TASKROBOT(3)

NAME
TASKROBOT, TASKNUMROBOTS -- RCI macros to get robot info from task descriptor.

USAGE
TASKNUMROBOTS(td)
  RCI_DESC *td;

RCI_RBT *TASKROBOT(td, num)
  RCI_DESC *td;
  int num;

ARGUMENTS

td --
    Pointer to task descriptor.

num --
    Number of the robot.

DESCRIPTION
These macros can be used to obtain information about the robots which are attached to an RCI control task. They may be called from any part of an RCI program.

TASKNUMROBOTS() returns the number of robots attached to a task.

TASKROBOT() returns a pointer to the robot structure for the "num"-th robot attached to a task. "num" is an index in the range 0 to MAX_TASKROBOTS, and is the same value returned by rciAttachRobot().

DIAGNOSTICS
TASKROBOT() will return NULL if there is no robot attached to the task with the indicated number.

NOTES
TASKROBOT() has recently been reimplemented as a function.

SEE ALSO
rciAttachRobot(3), getTaskRobot(3), RCI_RBT(3).