getActiveVel(3)

NAME
getActiveCartVel, getActiveJointVel -- get desired net velocities for the currently executing RCCL motion.

USAGE
#include <rccl.h>

getActiveCartVel (mnp, tvel, rvel)
  MANIP *mnp;
  float *tvel, *rvel;

getActiveJointVel (mnp, jvel)
  MANIP *mnp;
  JNTS *jvel;

ARGUMENTS

mnp --
    Manipulator reference structure.

tvel, rvel --
    Return values of translational and rotational velocities (mm. or degrees per second). These are optional and may be given as NULL.

jvel --
    Return values for joint level velocities (degrees or mm. per second).

RESTRICTIONS
getActiveJointVel() is not defined for virtual manipulators.

DESCRIPTION
These routines return the desired net velocities for the motion currently executing on the manipulator mnp. The values are the product of the base velocities and the various speed scaling factors (see setSpeed(3)).

getActiveCartVel() returns the net desired Cartesian velocity. If either of the argument pointers is given as NULL, the corresponding value is not returned.

getActiveJointVel() returns the net desired joint velocities.

Both sets of values are always defined, regardless of the path interpolation mode. The appropriate set (Cartesian or joint) is used by the trajectory generator at the beginning of a motion to estimate the overall path segment 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.).

getActiveJointVel() may set the following error codes:

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

No other errors are currently implemented.

SEE ALSO
The determination of the path segment time from the velocity limits is discussed in the support document "Trajectory Generation in Multi-RCCL".

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