If your destination is a Terminal session, then just Copy (Command-C) in the Finder, and Paste (Command-V) in the Terminal session will provide the full path.
If you want to paste somewhere else, you can write a Finder Service to capture the full path into the Clipboard
Applications -> Automator -> File -> New -> Service

Set the "Service receives selected" to "files and folders" in "Finder"
Find the "Run Shell Script" action and drag it to the right side
Replace 'cat' with 'echo -n $(cat) | pbcopy'
Save the new Service, giving it a name you can easily find in the "Services" menu.

Now in the Finder, Control-Click (Right-Click) on a file, go to the bottom of the pop-up menu and select "Services" and now find your Automator service that copies the full path to the clipboard.
If you want to give this service a "Hotkey" keyboard shortcut, then
System Preferences -> Keyboard -> Shortcuts -> Services -> Your_Service_Name
and you can give it a keyboard shortcut