setTime(3)

NAME
setTime -- explicitly set time for RCCL motion.

USAGE
#include <rccl.h>

setTime (mnp, tau, sigma)
  MANIP *mnp;
  float tau, sigma;

ARGUMENTS

mnp --
    Manipulator reference structure.

tau --
    Transition time (milliseconds).

sigma --
    Path segment time (milliseconds).

RESTRICTIONS
This routine must be called from the planning level.

DESCRIPTION
This routine allows a program to explicitly set the transition and path segment times for an RCCL motion. It affects the next motion request only.

A transition is the period spent blending smoothly from one motion to the next. In general, every motion has a start transition and an end transition, where the start transition is equivalent to the end transition of the previous motion. A short transition time corresponds to a rapid acceleration from one motion to the next. The path segment time is the total length of time for a motion, measured from the midpoint of the start transition to the midpoint of the end transition.

setTime() allows both the transition and path segment times to be specified explicity. If these times are not specified, the trajectory generator computes them automatically from the manipulator's acceleration and velocity specifications (see setAccel(3) and setSpeed(3)). tau specifies one half of the total time for the start transition. sigma specifies the path segment time. If either argument is given as F_DEFAULT, the corresponding time will be computed by the system as usual. If sigma is given as F_UNDEF, then the motion is set to run indefinitely. sigma cannot be set to 0.0.

DIAGNOSTICS
This routine returns -1 in the event of an error. It 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.). The following error codes may be set:

ERange --
    tau was negative and not equal to F_DEFAULT, or sigma was non-positive and not equal to F_DEFAULT or F_UNDEF.

The routine will abort the program if called from the control level.

SEE ALSO
setSpeed(3), setAccel(3), move(3), rcclSetOptions(3), errorStack(3).