\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{getManipByName}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{getManipByName}},
{\tt \manName{getManipByAddr}}
-- routines for finding RCCL manipulator reference structures.
}
\manSection{USAGE}
\cverbatim
#include <rccl.h>

MANIP *getManipByName(name)
  const char *name;

MANIP *getManipByAddr(addr)
  MANIP *addr;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt name} --}
Name of the {\tt MANIP} structure (the same name given
to {\tt rcclCreate()}).
\manItem{{\tt addr} --}
Pointer to the {\tt MANIP} structure as seen by the planning level
(the same value returned by {\tt rcclCreate()}).
\manSection{DESCRIPTION}
These routines provide a means for obtaining a valid {\tt MANIP} pointer
from anywhere within an RCCL program.

{\tt getManipByName()} finds the structure using the manipulator's
name as a key.

{\tt getManipByAddr()} finds the structure using its planning level
address as a key.

The results of the routines are unpredictable if the trajectory
generator is not running when they are called.
\manSection{DIAGNOSTICS}
The routines return {\tt NULL} if the {\tt MANIP} structure is not found.
\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt MANIP(3)}, {\tt rcclCreate(3)}.
\manEnd
\end
