\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{getActiveAccel}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{getActiveCartAccel}},
{\tt \manName{getActiveJointAccel}}
-- get desired net accelerations for the currently executing RCCL motion.

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

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

getActiveJointAccel (mnp, jacc)
  MANIP *mnp;
  JNTS *jacc; @endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt mnp} --}
Manipulator reference structure.
\manItem{{\tt tacc}, {\tt racc} --}
Return values of translational and rotational acceleration
(mm. or degrees per second$^2$).
\manItem{{\tt jacc} --}
Return values for joint level accelerations (degrees or mm. per second$^2$).
\manSection{RESTRICTIONS}
{\tt getActiveJointAccel()} is not defined for virtual manipulators.
\manSection{DESCRIPTION}
These routines return the acceleration limits
for the motion currently executing on the manipulator {\tt mnp}.
The values incorporate any scaling factor
set by {\tt setAccelScale()}.

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

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

{\tt getActiveJointAccel()} may set the following error codes:

\manItem{{\tt ENotDefined}--}
The routine was called for a virtual manipulator.

No other errors are currently implemented.
\manSection{SEE ALSO}
The method used to determine transition time from the acceleration limits
is discussed in the support document ``Trajectory Generation in Multi-RCCL''.

\rightskip=0ptplus1fil
{\tt setSpeed(3)}, {\tt setAccel(3)}, {\tt errorStack(3)}, 
{\tt rcclSetOptions(3)}.
\manEnd
\end
