addJnts.tex:values. This can be done with the general vector routines (see
allocMem.tex:Pointer to the memory object as seen by the planning task.
allocMem.tex:can be done using the {\tt getMemByAddr()} primitive (see below).
allocTrans.tex:objects other than transforms (see {\tt allocMem(3)}). 
allocTrans.tex:level (see {\tt setTransConst(3)}).
allocTrans.tex:set (see {\tt rcclSetOptions(3)}).
allocTransXyz.tex:is set (see {\tt rcclSetOptions(3)}). 
chg.tex:time the robot {\it output} function is called by the control task (see
comply.tex:is set (see {\tt rcclSetOptions(3)}). 
configToStr.tex:Robot's {\tt KYN} structure (see below).
configToStr.tex:see the manual page {\tt KYN(3)}.
copyPosition.tex:CPU (see below).
copyPosition.tex:CPU (see below).
distance.tex:set (see {\tt rcclSetOptions(3)}).
fwdJacob.tex:get to a singularity before the result is ``fudged'' (see below).
fwdJacob.tex:see the manual page {\tt KYN(3)}.
fwdJacob.tex:(see the next paragraph). The value of {\tt epsilon} must be positive,
fwdJacobVar.tex:Robot's {\tt VAR} structure (see below).
fwdJacobVar.tex:see the manual page {\tt VAR(3)}.
fwdKinematics.tex:Robot's {\tt KYN} structure (see below).
fwdKinematics.tex:Robot's {\tt VAR} structure (see below), used to store
fwdKinematics.tex:to robot specific data structures (see below). {\tt var} is an optional
fwdKinematics.tex:see the manual pages {\tt JLS(3)}, {\tt KYN(3)}, and {\tt VAR(3)}.
getAccel.tex:is set (see {\tt rcclSetOptions(3)}). 
getActiveAccel.tex:is set (see {\tt rcclSetOptions(3)}). 
getActiveVel.tex:speed scaling factors (see {\tt setSpeed(3)}).
getActiveVel.tex:set (see {\tt rcclSetOptions(3)}). 
getJls.tex:functions of the {\tt JLS} structure; see {\tt JLS(3)} for a description
getJls.tex:{\tt GEN_KYN} component of the {\tt KYN} structure; see {\tt KYN(3)} and
getJls.tex:for the robot communication functions (see {\tt robotComfxns(7)}). 
getManip.tex:Pointer to the {\tt MANIP} structure as seen by the planning level
getRobotPosition.tex:{\tt EXIT_ON_ERROR} has been set (see {\tt rciSetOptions()}).
getSpeed.tex:is set (see {\tt rcclSetOptions(3)}). 
getpar.tex:RCI parameter set (see {\tt rciParameters(3)}). 
gravload.tex:Robot's {\tt KYN} structure (see below).
gravload.tex:which depend on the joint position (see below).
gravload.tex:see the manual page {\tt KYN(3)}.
gravload.tex:see the manual page {\tt VAR(3)}.
how.tex:(see {\tt robotComfxns(7)}).
how.tex:RCCL programs do not normally see the index {\tt num}; instead, a
how.tex:used various {\tt SET} macros (see {\tt SET_TORQUE_READ(3)}).
initJnts.tex:is set (see {\tt rcclSetOptions(3)}). 
jbiasMotionEval.tex:is set (see {\tt rcclSetOptions(3)}). 
jls.tex:dynamic parameters; that is done in robot specific structures (see
jls.tex:whose elements are {\tt encWheelSize[j]} (see field below) divided by
jls.tex:functions (see {\tt encoderToAngle(3)}).
limit.tex:set (see {\tt rcclSetOptions(3)}).
maintain.tex:about the motion (see {\tt motionStatus(3)}), or terminate it
maintain.tex:(see {\tt stopMotion(3)}). A motion ID can be explicitly
maintain.tex:set (see {\tt rcclSetOptions(3)}).
makePosition.tex:set (see {\tt rcclSetOptions(3)}).
manip.tex:(see {\tt rcclSetModes(3)}).
manip.tex:If the mode {\tt COMPLETE_AT_TB} is set (which it is by default; see
manip.tex:the manipulator-specific position equation {\tt last} (see below).
manip.tex:the manipulator-specific position equation {\tt park} (see below).
manip.tex:question (see {\tt rcclSetModes(3)}).
manip_robot.tex:For a description of the RCI task descriptor, see {\tt RCI_DESC(3)}.
motionStatus.tex:is set (see {\tt rcclSetOptions(3)}). 
move.tex:(see {\tt setTransVarb(3)}) the robot will track these changes
move.tex:combine this effect with changing the motion queue size (see
move.tex:about the motion request (see {\tt motionStatus(3)}), cancel it
move.tex:(see {\tt stopMotion(3)}), or wait for it to either begin executing
move.tex:(see {\tt waitForStop(3)}). Motion IDs assigned by the system
move.tex:set (see {\tt rcclSetOptions(3)}).
movej.tex:about the motion request (see {\tt motionStatus(3)}), cancel it
movej.tex:(see {\tt stopMotion(3)}), or wait for it to either begin executing
movej.tex:(see {\tt waitForStop(3)}). Motion IDs assigned by the system
movej.tex:set (see {\tt rcclSetOptions(3)}).
printVd.tex:only one {\tt \%} definition (see {\tt printf(3)}).
printVf.tex:only one {\tt \%} definition (see {\tt printf(3)}).
rcclBlock.tex:something that the control level will see on the next cycle, we can
rcclCreate.tex:{\tt cpus} in the {\tt .rciparams} file (see {\tt RCCL_params(5)}).
rcclCreate.tex:(see {\tt MANIP(3)}).
rcclCreate.tex:is set (see {\tt rcclSetOptions(3)}). 
rcclPause.tex:set (see {\tt rcclSetOptions(3)}).
rcclScheduling.tex:set (see {\tt rcclSetOptions(3)}). 
rcclSetInterval.tex:in the {\tt .rciparams} file (see {\tt RCCL_params(5)}). 
rcclSetInterval.tex:set (see {\tt rcclSetOptions(3)}).
rcclSetSimulator.tex:see {\tt simAddress(5)}.
rcclStart.tex:{\tt RCCL_LEAVE_POWER_ON}; see {\tt rcclSetOptions(3)}).
rcclStart.tex:set (see {\tt rcclSetOptions(3)}). 
rcclTeach.tex:Pressing the following buttons on the teach pendant causes the indicated
rcclTeach.tex:set (see {\tt rcclSetOptions(3)}).
rciAbort.tex:contents of the task's error stack (see {\tt errorStack(3)}). 
rciAbortHandler.tex:(see below)).   
rciAllocDevice.tex:introduced into the system libraries (see 
rciAttachRobot.tex:robot interface functions (see {\tt rbtComfxns(7)}). 
rciAttachRobot.tex:the {\tt devAddr} structure, see {\tt rciAllocDevice()}.
rciCreate.tex:(see {\tt RCI_TCB(3)}) is allocated and attached to the descriptor.
rciParameters.tex:several different places (see below), 
rciParameters.tex:exist if either (1) it has been predeclared in a parameter 
rciParameters.tex:for instance, see {\tt RCCL_params(5)}.
rciSharedMemory.tex:which has been marked for access by the {\it control} level (see
rciSignal.tex:mainly used by the {\tt probe()} routine of device drivers (see
rciWakeupOn.tex:{\tt rciWakeupOn()} is usually called by the task's startup function (see
rciWakeupOn.tex:associated with RCI I/O devices (see {\tt IOdevice(7)}) is designed to be used
rci_rbt.tex:(see {\tt rciAttachRobot(3)}), and a pointer to it can be
rci_rbt.tex:set of robot interface functions (see {\tt rbtComfxns(7)})
rci_rbt.tex:task's {\it startup} routine (see {\tt rbtComfxns(7)}).
rci_rbt.tex:(see above).
rci_rbt.tex:(see above).
rci_rbt.tex:Pointer to the robot's I/O device (see {\tt IOdevice(7)}). 
rci_tcb.tex:before the control function is called. The startup function hence sees a value
rci_tcb.tex:of 0, and the first value seen by the control function is 1.
rci_tcb.tex:Polling function called by the RCI monitor to see if the task is runnable
rci_tcb.tex:to see what the new values are. The {\tt interval} and {\tt offset} fields
robotMacros.tex:robots which are attached to RCI tasks (see {\tt rciAttachRobot()});
robotMacros.tex:{\tt ROBOT_READY()} tests to see if a robot is ``ready''; that is,
runMonitorFxn.tex:see {\tt rcclSetInterval(3)}). A monitor function will execute only
runMonitorFxn.tex:set (see {\tt rcclSetOptions(3)}). 
setAccel.tex:set (see {\tt rcclSetOptions(3)}). 
setCompletedSig.tex:is set (see {\tt rcclSetOptions(3)}). 
setComply.tex:set (see {\tt rcclSetOptions(3)}).
setConf.tex:(see {\tt rcclSetOptions(3)}).
setMod.tex:is set (see {\tt rcclSetOptions(3)}). 
setMotionFlag.tex:set (see {\tt rcclSetOptions(3)}).
setMotionQueueSize.tex:(see {\tt rcclSetOptions(3)}).
setSpeed.tex:specified in the {\tt .rciparams} file (see {\tt RCCL_params(5)}).
setSpeed.tex:be defined in the {\tt .rciparams} file (see {\tt RCCL_params(5)}), 
setSpeed.tex:using the corresponding {\it get} primitives (see {\tt getSpeed(3)}).
setSpeed.tex:is set (see {\tt rcclSetOptions(3)}). 
setTime.tex:(see {\tt rcclSetOptions(3)}).
setTransBinding.tex:is set (see {\tt rcclSetOptions(3)}). 
setTransVarb.tex:is set (see {\tt rcclSetOptions(3)}). 
set_torque_read.tex:by seeking reference marks on the shaft encoders.
setpar.tex:RCI parameter set (see {\tt rciParameters(3)}).
simSupport.tex:delivered), this function will check to see that all robots attached
simSupport.tex:see {\tt simAddress(5)}.
solveTrans.tex:is set (see {\tt rcclSetOptions(3)}). 
stop.tex:(see {\tt setMotionQueueSize(3)}).
stop.tex:to see if an explicit motion time has been specified by {\tt setTime()} since
stop.tex:about the motion (see {\tt motionStatus()}), terminate it
stop.tex:(see {\tt stopMotion()}), or wait for it to start or stop
stop.tex:(see {\tt waitForStop()}). Motion IDs assigned by the system
stop.tex:set (see {\tt rcclSetOptions(3)}).
stopMotion.tex:is set (see {\tt rcclSetOptions(3)}). 
tasknum.tex:task (see {\tt IOdevice\-(7)}).
updateTrans.tex:generator is turned off (see {\tt rcclRelease(3)}). 
updateTrans.tex:set (see {\tt rcclSetOptions(3)}).
updateVar.tex:obtain it, see the manual page {\tt VAR(3)}.
updateVar.tex:obtain it, see the manual page {\tt KYN(3)}.
vect.tex:precision vector routines (see {\tt addVf(3)} and {\tt addVd(3)}), but are
waitForStop.tex:is set (see {\tt rcclSetOptions(3)}).
