\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{getActiveVel}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{getActiveCartVel}},
{\tt \manName{getActiveJointVel}}
-- get desired net velocities for the currently executing RCCL motion.

}
\manSection{USAGE}
\cverbatim
#include <rccl.h>

getActiveCartVel (mnp, tvel, rvel)
  MANIP *mnp;
  float *tvel, *rvel;

getActiveJointVel (mnp, jvel)
  MANIP *mnp;
  JNTS *jvel; @endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt mnp} --}
Manipulator reference structure.
\manItem{{\tt tvel}, {\tt rvel} --}
Return values of translational and rotational velocities
(mm. or degrees per second).
These are optional and may be given as {\tt NULL}.
\manItem{{\tt jvel} --}
Return values for joint level velocities (degrees or mm. per second).
\manSection{RESTRICTIONS}
{\tt getActiveJointVel()} is not defined for virtual manipulators.
\manSection{DESCRIPTION}
These routines return the desired net velocities for the
motion currently executing on the manipulator {\tt mnp}.
The values are the product of the base velocities and the various
speed scaling factors (see {\tt setSpeed(3)}).

{\tt getActiveCartVel()} returns the net desired Cartesian velocity.
If either of the argument pointers is given as {\tt NULL}, the
corresponding value is not returned. 

{\tt getActiveJointVel()} returns the net desired joint velocities.

Both sets of values are always defined, regardless of the path interpolation
mode. The appropriate set (Cartesian or joint) is used by the trajectory
generator at the beginning of a motion to estimate the overall path 
segment time, and is not used explicitly after that. 
\manSection{DIAGNOSTICS}
These routines return {\tt -1} in the event of an error.
They will automatically abort the program if the option {\tt RCCL_ERROR_EXIT} is
set (see {\tt rcclSetOptions(3)}). 
Error codes and messages are placed on the {\it errorStack} (q.v.). 

{\tt getActiveJointVel()} may set the following error codes:

\manItem{{\tt ENotDefined}--}
The routine was called for a virtual manipulator.

No other errors are currently implemented.
\manSection{SEE ALSO}
The determination of the path segment time from the velocity limits
is discussed in the support document ``Trajectory Generation in Multi-RCCL''.

\rightskip=0ptplus1fil
{\tt setSpeed(3)}, {\tt setAccel(3)}, {\tt errorStack(3)}, 
{\tt rcclSetOptions(3)}.
\manEnd
\end
