Features
This is a function for calculating the posture and solution space of the current task coordinate system. At this time, the posture is based on ‘eTargetRef’.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
eTargetRef |
enum.COORDINATE_SYSTEM |
COORDINATE_SYSTEM_BASE |
Refer to the Definition of Constant and Enumeration Type |
Return
|
Value |
Description |
|---|---|
|
struct.ROBOT_TASK_POSE |
Refer to definition of structure |
Example
C++
ROBOT_TASK_POSE* result = Drfl.get_current_posx();
float* pos = new float[NUM_TASK];
int sol = result->_iTargetSol;
memcpy(pos, result->_fTargetPos, sizeof(float) * NUM_TASK);