\input manualMacros.tex
\manBegin
\manPageInfo{RCI Reference Manual}{}{}
\manTitle{gravload}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{gravload}},
{\tt \manName{gravloadVar}}
-- RCI routines to compute robot gravity loading.

}
\manSection{USAGE}
\cverbatim
gravload (l, j6, kyn)
   float *l;
   floar *j6;
   KYN *kyn;

gravloadVar (l, var, kyn)
   float *l;
   void *var;
   KYN *kyn;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt l} --}
Returned gravity loading values at each joint (Newton-meters or Newtons).
\manItem{{\tt j6} --}
Robot joint values (radians or millimeters).
\manItem{{\tt kyn} --}
Robot's {\tt KYN} structure (see below).
\manItem{{\tt var} --}
Robot's {\tt VAR} structure containing precomputed parameters
which depend on the joint position (see below).

\manSection{DESCRIPTION}
{\tt gravload()} computes the gravity loading at each joint for
a particular position of the robot. 
The {\tt KYN} structure contains robot kinematic and
dynamic constants. 
For full details on the {\tt KYN} structure and how to obtain it,
see the manual page {\tt KYN(3)}.

{\tt gravloadVar()} also computes the gravity loadings, only
the robot position information is obtained from the robot's
{\tt VAR} structure instead of from an explicit set of joint angles.
The {\tt VAR} contains terms, such as sines and cosines, which
are precomputed and therefore do not have to be computed again.
For full details on the {\tt VAR} structure and how to obtain it,
see the manual page {\tt VAR(3)}.

The {\tt VAR} structure passed to {\tt gravloadVar()} must be
updated for the current joint position, which can be done
using the routine {\tt updateVar()} (q.v.).

\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt KYN(3)}, {\tt VAR(3)}, {\tt fwdJacobVar(3)}, {\tt updateVar(3)}.

\manEnd
\end
