Returns status of freedrive mode for current robot pose.

Constrained freedrive usability is reduced near singularities. Value returned by this function corresponds to distance to the nearest singularity.

It can be used to advice operator to follow different path or switch to unconstrained freedrive.

Return Value

• 0 - Normal operation.

• 1 - Near singularity.

• 2 - Too close to singularity. High movement resistance in freedrive.