GetRtTrf#

This command returns the current definition of the TRF with respect to the FRF, set by the SetTrf command. It returns exactly the same pose as the GetTrf command, but the response code is different, and a timestamp precedes the pose data.

Syntax#

GetRtTrf()

Responses#

  • [2229][x, y, z, γ]

    • t: timestamp in microseconds;

    • x, y, z: the coordinates of the origin of the TRF with respect to the FRF, in mm;

    • γ: the orientation of the TRF about its z-axis relative to the FRF, in degrees.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtTrf is represented by the TargetTrf section (see Section 4.5.7).