\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{setMotionHold}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{setMotionHold}}
-- delay start of RCCL motion request.

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

setMotionHold (mnp)
  MANIP *mnp;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt mnp} --}
Manipulator reference structure.
\manSection{RESTRICTIONS}
This routine must be called from the planning level.
\manSection{DESCRIPTION}
This routine specifies that the next motion request on a particular
manipulator should be blocked from starting, once it has reached
the front of the motion queue, until given
explicit permission with the routine {\tt startMotion()}.
{\tt startMotion()} should be 
called with the motion ID returned by the move request
and a non-negative start code:
\cverbatim
        startMotion (mid, code); 
@endcverbatim
It may be called
at any time after the motion has been queued.
\manSection{DIAGNOSTICS}
The routine will abort the program if called from the control level.
\manSection{BUGS}
It is unclear how useful this feature is.
\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt move(3)}, {\tt startMotion(3)}, 
{\tt rcclSetOptions(3)}.
\manEnd
\end
