/*-=-=-=-=-=-=-=-=-=-=-=- RCCL/RCI Notice of Copyright -=-=-=-=-=-=-=-=-=-=-*
 *									    *
 *	Copyright (C) 1991 by John E. Lloyd.				    *
 *									    *
 *	Information on copyright permissions, as well as a complete	    *
 *	disclaimer of warranty, is given in the file COPYRIGHT.		    *
 *									    *
 *-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
#include "../h/rcclDefs.h"

typedef struct {
	  MANIP *mnp;
	  int com;
	  int retval;
	  float floatval[2];
	  int intval[2];
	  unsigned long ulongval[2];
	  JNTS jntsval;
	  DIFF diffval;
	  FORCE forceval;
	  char strval[16];
} PT_BLK;

#define GET_ACTIVE_MOD			1
#define GET_ACTIVE_CART_VEL		2
#define GET_ACTIVE_CART_ACCEL		3
#define GET_ACTIVE_JOINT_VEL		4
#define GET_ACTIVE_JOINT_ACCEL		5
#define GET_ACTIVE_COMPLY		6
#define GET_ACTIVE_DIFF_LIMIT		7
#define GET_ACTIVE_FORCE_LIMIT		8
#define GET_ACTIVE_MOTION_COUNTS	9
#define GET_ACTIVE_COUNT		10
#define GET_ACTIVE_CONF			11
#define GET_CART_VEL			12
#define GET_CART_ACCEL			13
#define GET_JOINT_VEL			14
#define GET_JOINT_ACCEL			15
#define GET_COMPLY			16
#define GET_DEFAULT_CART_VEL		17
#define GET_DEFAULT_JOINT_VEL		18
#define GET_JVEL_SCALE			19
#define GET_SPEED			20
#define GET_ACCEL_SCALE			21
#define GET_MOTION_QUEUE_SIZE		22
#define NUM_MOTIONS_QUEUED		23
#define GET_MOD				24
#define RCCL_GET_OPTIONS		25
#define RCCL_PUT_OPTIONS		26
#define RCCL_SET_OPTIONS		27
#define RCCL_CLEAR_OPTIONS		28
#define RCCL_GET_MODES			29
#define RCCL_GET_ACTIVE_MODES		30
#define RCCL_PUT_MODES			31
#define RCCL_SET_MODES			32
#define RCCL_CLEAR_MODES		33

	  		   
