\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{OPEN HAND}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{OPEN_HAND}},
{\tt \manName{CLOSE_HAND}}
-- RCCL primitives to open and close the robot hand.

}
\manSection{USAGE}
\cverbatim
OPEN_HAND(mnp)
  MANIP *mnp;

CLOSE_HAND(mnp)
  MANIP *mnp;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt mnp} --}
Manipulator reference structure.
\manSection{DESCRIPTION}
These macros open and close the hand of a robot.
\manSection{DIAGNOSTICS}
The macros will do nothing if you try to apply them to a virtual manipulator.
\manSection{BUGS}
To read back the hand position you have to look in the robot's {\TT HOW}
structure.
The macros need to be supplemeted by something like {\tt HAND_POSITION()}, 
which can be used to set an adjustable gripper to a particular position.
\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt rcclCreate(3)}, {\tt HOW(3)}.
\manEnd
\end
