\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{getActiveLimit}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{getActiveForceLimit}},
{\tt \manName{getActiveDispLimit}}
-- get limit specifications for the currently executing RCCL motion.

}
\manSection{USAGE}
\cverbatim
#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;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt mnp} --}
Manipulator reference structure.
\manItem{{\tt maskp} --}
Pointer for returning bit mask.
\manItem{{\tt diff} --}
Displacement limit values.
These are optional and may be given as {\tt NULL}.
\manItem{{\tt force} --}
Force/torque limit values (Newtons or Newton-meters).
These are optional and may be given as {\tt NULL}.

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

{\tolerance=1000
{\tt getActiveDispLimit()} gets a mask specifying the degrees
of freedom (DOFs) which have been marked for displacement limit
monitoring. {\tt diff} (if not given as {\tt NULL}) is used to return
their corresponding limit values.

}

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

Limit specifications may be set
by the routines {\tt setDispLimit()},
{\tt setForceLimit()}, or {\tt 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 {\tt setDispLimit()} or {\tt setForceLimit()}.
\manSection{DIAGNOSTICS}

No errors are currently implemented.

\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt setForceLimit(3)}, {\tt setDispLimit(3)}, {\tt limit(3)}.

\manEnd
\end
