setMod(3)

NAME
setMod, getMod -- set RCCL motion interpolation mode.

USAGE
setMod (mnp, mode)
  MANIP *mnp;
  char mode;

getMod (mnp)
  MANIP *mnp;

ARGUMENTS

mnp --
    Manipulator reference structure.

mode --
    Character specifying the interpolation mode.

RESTRICTIONS
setMod() must be called from the planning level. joint interpolation is not defined for virtual manipulators.

DESCRIPTION
These RCCL routines control the trajectory interpolation mode for a manipulator.

setMod() sets the mode to either joint or Cartesian by specifying mode as either 'j' or 'c'. The mode change takes effect with the next requested motion and remains in effect for all subsequent motions until setMod() is called again.

In Cartesian mode, robot motions are computed by interpolating along a straight line with respect to the TOOL frame of the target position equation. Cartesian mode is ignored for movej() requests. In joint mode, robot motions are computed by interpolating in joint coordinates.

getMod() returns the value most recently set by setMod().

DIAGNOSTICS
These routines return -1 in the event of an error. They will automatically abort the program if the option RCCL_ERROR_EXIT is set (see rcclSetOptions(3)). Error codes and messages are placed on the errorStack (q.v.). The following error codes may be set:

Error codes set by setMod() include:

ERange --
    Illegal mode value.

ENotDefined --
    Attempt was made to specify joint interpolation for a virtual manipulator.

Error codes set by getMod() include:

EInternal --
    Bogus mode value detected internally.

setMod() will abort the program if called from the control level.

SEE ALSO
getActiveMod(3), move(3), rcclSetOptions(3), errorStack(3).