\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{getActiveComply}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{getActiveComply}}
-- get comply specification for the currently executing RCCL motion.

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

getActiveComply (mnp, maskp, force)
  MANIP *mnp;
  unsigned long *maskp;
  FORCE *force; @endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt mnp} --}
Manipulator reference structure.
\manItem{{\tt maskp} --}
Pointer for returning bit mask.
\manItem{{\tt force} --}
Structure describing the bias forces/torques to be associated with the
compliance 
(in units of either Newtons or Newton-meters).
This argument is optional (may be specified as {\tt NULL}).
\manSection{DESCRIPTION}
This routine is like {\tt getComply()} except that it returns
the compliance specification for the motion currently executing
on the manipulator {\tt mnp}.

{\tt getActiveComply()} returns (through {\tt maskp})
a bitmask indicating which degrees
of freedom have been specified for compliance. The argument
{\tt force} (if not {\tt NULL}) is used to return
the bias values associated with the compliant degrees of freedom.

Compliance specifications are set with the commands {\tt setComply()},
{\tt limit()}, and {\tt comply()}.
RCCL does not actually implement the
compliance; that must be done by control level application routines.
For more information on the bitmask format, refer to {\tt setComply()}.

\manSection{DIAGNOSTICS}
No errors are currently implemented.
\manSection{BUGS}
This call is redundant with the information provided by the
{\tt complyMask} and {\tt complyValues} fields of the {\tt MANIP}
structure.
\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt setComply(3)}, {\tt comply(3)}.

\manEnd
\end
