getManipByName(3)

NAME
getManipByName, getManipByAddr -- routines for finding RCCL manipulator reference structures.

USAGE
#include <rccl.h>

MANIP *getManipByName(name)
  const char *name;

MANIP *getManipByAddr(addr)
  MANIP *addr;

ARGUMENTS

name --
    Name of the MANIP structure (the same name given to rcclCreate()).

addr --
    Pointer to the MANIP structure as seen by the planning level (the same value returned by rcclCreate()).

DESCRIPTION
These routines provide a means for obtaining a valid MANIP pointer from anywhere within an RCCL program.

getManipByName() finds the structure using the manipulator's name as a key.

getManipByAddr() finds the structure using its planning level address as a key.

The results of the routines are unpredictable if the trajectory generator is not running when they are called.

DIAGNOSTICS
The routines return NULL if the MANIP structure is not found.

SEE ALSO
MANIP(3), rcclCreate(3).