getActiveAccel(3)

NAME
getActiveCartAccel, getActiveJointAccel -- get desired net accelerations for the currently executing RCCL motion.

USAGE
#include <rccl.h>

getActiveCartAccel (mnp, tacc, racc)
  MANIP *mnp;
  float *tacc, *racc;

getActiveJointAccel (mnp, jacc)
  MANIP *mnp;
  JNTS *jacc;

ARGUMENTS

mnp --
    Manipulator reference structure.

tacc, racc --
    Return values of translational and rotational acceleration (mm. or degrees per second^2).

jacc --
    Return values for joint level accelerations (degrees or mm. per second^2).

RESTRICTIONS
getActiveJointAccel() is not defined for virtual manipulators.

DESCRIPTION
These routines return the acceleration limits for the motion currently executing on the manipulator mnp. The values incorporate any scaling factor set by setAccelScale().

getActiveCartAccel() returns the Cartesian acceleration limits. If either of the argument pointers is given as NULL, the corresponding value is not returned.

getActiveJointAccel() returns the joint acceleration limits.

Both types of limits are always defined, regardless of the path interpolation mode. The appropriate set of limits is used by the trajectory generator at the beginning of the motion to compute the transition time, and is not used explicitly after that.

DIAGNOSTICS
These routines return -1 in the event of an error. They will automatically abort the program if the option RCCL_ERROR_EXIT is set (see rcclSetOptions(3)). Error codes and messages are placed on the errorStack (q.v.).

getActiveJointAccel() may set the following error codes:

ENotDefined--
    The routine was called for a virtual manipulator.

No other errors are currently implemented.

SEE ALSO
The method used to determine transition time from the acceleration limits is discussed in the support document "Trajectory Generation in Multi-RCCL".

setSpeed(3), setAccel(3), errorStack(3), rcclSetOptions(3).