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Another option is to use the CurrentStateMonitor class: http://moveit.ros.org/doxygen/classplanning__scene__monitor_1_1CurrentStateMonitor.html

Which allows you to monitor the current state easily.

Another way is to use the MoveGroupInterface class: http://moveit.ros.org/doxygen/classmoveit_1_1planning__interface_1_1MoveGroup.html and calling getCurrentJointValues(). This function is a bit slow, as it will wait for a little while to receive messages so it can construct a full state. I recommend the first option if you need to get the state multiple times.

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