\input manualMacros.tex
\manBegin
\manPageInfo{RCI Reference Manual}{}{}
\manTitle{getTaskRobot}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{getTaskRobot}},
{\tt \manName{findTaskRobot}}
-- obtain pointer for robot attached to RCI task.

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

RCI_RBT *getTaskRobot(name)
  const char *name;

RCI_RBT* findTaskRobot(id)
  int id; @endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt name} --}
Name of the robot (the same name given to {\tt rciAttachRobot()}).
\manItem{{\tt id} --}
ID of the robot (the same number returned by {\tt find_robot()}).

\manSection{DESCRIPTION}
These routines are used to obtain a pointer to the robot descriptor
{\tt RCI_RBT} for a robot that is
attached to an RCI control task. 

{\tt getTaskRobot()} references the
robot by name, and can be called from any RCI 
task, not just the one which has the
robot attached. 

{\tt findTaskRobot()} references the robot using its ID number, and 
can also be called from any RCI 
task, not just the one which has the
robot attached. 

\manSection{DIAGNOSTICS}
The routines returns {\tt NULL} if the robot is not currently attached to some
RCI task within the current program.

\manSection{SEE ALSO}
\raggedright
{\tt rciAttachRobot(3)}, {\tt TASKROBOT(3)}, {\tt RCI_RBT(3)}.
\manEnd
\end
