\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{getAccel}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{getCartAccel}},
{\tt \manName{getJointAccel}},
{\tt \manName{getAccelScale}}
-- read back acceleration limits for RCCL manipulators.

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

getCartAccel (mnp, tacc, racc)
  MANIP *mnp;
  float *tacc, *racc;

getJointAccel (mnp, jacc)
  MANIP *mnp;
  JNTS *jacc;

float getAccelScale (mnp)
  MANIP *mnp; @endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt mnp} --}
Manipulator reference structure.
\manItem{{\tt tacc}, {\tt racc} --}
Return values of translational and rotational acceleration
(mm. or degrees per second$^2$).
\manItem{{\tt jacc} --}
Return values for joint level accelerations (degrees or mm. per second$^2$).
\manSection{RESTRICTIONS}
{\tt getJointAccel()} is not 
defined for virtual manipulators.
\manSection{DESCRIPTION}
These routines read back the acceleration limits specified for
a particular manipulator {\tt mnp}. 

{\tt getCartAccel()} reads back the Cartesian acceleration limits
specified by {\tt setCartAccel()}.
If either of the argument pointers is given as {\tt NULL}, the
corresponding value is not returned. 

{\tt getJointAccel()} reads back the joint acceleration limits
specified by {\tt setJointAccel()}.
If the argument pointer {\tt jacc} is specified as {\tt NULL}, the
values are not returned (this rather useless capability was installed purely
for symmetry with {\tt getCartAccel()}).

{\tt getAccelScale()} reads back the acceleration scale
specified by {\tt setCartAccel()}.

\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 getJointAccel()} 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}
\rightskip=0ptplus1fil
{\tt rcclCreate(3)}, {\tt setSpeed(3)}, {\tt move(3)},
{\tt JLS(3)}, {\tt rcclSetOptions(3)}, {\tt
errorStack(3)}.
\manEnd
\end
