GetRtWrf#

This command returns the current definition of the WRF with respect to the BRF, set by the SetWrf command. It returns exactly the same pose as the GetWrf command, but the response code is different, and a timestamp precedes the pose data.

Syntax#

GetRtWrf()

Responses#

  • [2228][x, y, z, α, β, γ]

    • t: timestamp in microseconds;

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

    • α, β, γ: Euler angles representing the orientation of the WRF relative to the BRF, in degrees.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtWrf is represented by the TargetWrf section (see Section 4.5.6).