getActiveLimit(3)

NAME
getActiveForceLimit, getActiveDispLimit -- get limit specifications for the currently executing RCCL motion.

USAGE
#include <rccl.h>

getActiveDispLimit (mnp, maskp, diff)
  MANIP *mnp;
  unsigned long maskp;
  DIFF *diff;

getActiveForceLimit (mnp, maskp, force)
  MANIP *mnp;
  unsigned long maskp;
  FORCE *force;

ARGUMENTS

mnp --
    Manipulator reference structure.

maskp --
    Pointer for returning bit mask.

diff --
    Displacement limit values. These are optional and may be given as NULL.

force --
    Force/torque limit values (Newtons or Newton-meters). These are optional and may be given as NULL.

DESCRIPTION
These routines return (through maskp) the displacement and force limits for the motion currently executing on the manipulator mnp.

getActiveDispLimit() gets a mask specifying the degrees of freedom (DOFs) which have been marked for displacement limit monitoring. diff (if not given as NULL) is used to return their corresponding limit values.

getActiveForceLimit() gets a mask specifying the DOFs which have been marked for force limit monitoring. force (if not given as NULL) is used to return their corresponding limit values.

Limit specifications may be set by the routines setDispLimit(), setForceLimit(), or limit(). RCCL does not actually implement the limit monitoring; that must be done by control level application routines. For more information on the bitmask format, consult the documentation for setDispLimit() or setForceLimit().

DIAGNOSTICS

No errors are currently implemented.

SEE ALSO
setForceLimit(3), setDispLimit(3), limit(3).