getActiveCount(3)

NAME
getActiveMotionCounts, getActiveCount -- get count information for the currently executing RCCL motion.

USAGE
#include <rccl.h>

getActiveMotionCounts (mnp, tau, sigma)
  MANIP *mnp;
  int *tau;
  int *sigma;

getActiveCount (mnp)
  MANIP *mnp;

ARGUMENTS

mnp --
    Manipulator reference structure.

tacc, tseg --
    Return values of the current transition and path segment counts. These are optional and may be given as NULL.

DESCRIPTION
getActiveMotionCounts() returns the transition count and path segment count in use by the motion currently executing on the manipulator mnp. One "count" corresponds to one control cycle, and so the equivalent time can be determined by multiplying by the control cycle interval (obtainable with rcclGetInterval()). tau is set to the transition count, which is 1/2 the total number of cycles allocated to the smoothing transition with which the motion began. sigma is set to the path segment count, which gives the total number of cycles allocated for the current motion. If the motion has no fixed time limit, then sigma is set to UNDEF.

getActiveCount() returns the count associated with the current motion. This is a value which is set to zero when the motion segment begins, and is increased by one every control cycle. If there is a transition interval associated with the motion (i.e., tau is not zero), then this counting begins tau + 1 counts before the official start time (or transition midpoint). Likewise, it ends at the beginning of the transition to the next motion.

DIAGNOSTICS
No errors are currently implemented.

SEE ALSO
Information about path segment timing can be obtained from the support document "Trajectory Generation in Multi-RCCL", and also from the "Multi-RCCL User's Guide".

setTime(3), setSpeed(3), setAccel(3).