APIs, concepts, guides, and more

◆ CommandPositionGet()

RobotPosition CommandPositionGet ( LinearUnits units = LinearUnits::None)
pure virtual

Get the current commanded position of the robot from the trajectory executor in the specified units. If no units are specified, the Robot's model units are used. The rotation/orientation is stored as a quaternion, so units are not applicable. If you want to get the Euler angles of the orientation then you can use Quaternion::ToEuler(), which will return a Vector3d with the Euler angles in the specified units.

See also
Path Motion