/*-=-=-=-=-=-=-=-=-=-=-=- RCCL/RCI Notice of Copyright -=-=-=-=-=-=-=-=-=-=-*
 *									    *
 *	Copyright (C) 1987, 1991 by John E. Lloyd and Vincent Hayward.	    *
 *									    *
 *	Information on copyright permissions, as well as a complete	    *
 *	disclaimer of warranty, is given in the file COPYRIGHT.		    *
 *									    *
 *-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/

#ifndef _RCCLHAND_H_
#define _RCCLHAND_H_

#include "../h/robotControl.h"
#include "../h/rcclDefs.h"

#define OPEN_HAND(m)   { RCI_RBT *rbt = MANIP_ROBOT(m); \
			 if (rbt) SET_HANDPOS(rbt, 1); }
#define CLOSE_HAND(m)  { RCI_RBT *rbt = MANIP_ROBOT(m); \
			 if (rbt) SET_HANDPOS(rbt, 0); }

#endif
