getAccel(3)

NAME
getCartAccel, getJointAccel, getAccelScale -- read back acceleration limits for RCCL manipulators.

USAGE
#include <rccl.h>

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

getJointAccel (mnp, jacc)
  MANIP *mnp;
  JNTS *jacc;

float getAccelScale (mnp)
  MANIP *mnp;

ARGUMENTS

mnp --
    Manipulator reference structure.

tacc, racc --
    Return values of translational and rotational acceleration (mm. or degrees per second^2).

jacc --
    Return values for joint level accelerations (degrees or mm. per second^2).

RESTRICTIONS
getJointAccel() is not defined for virtual manipulators.

DESCRIPTION
These routines read back the acceleration limits specified for a particular manipulator mnp.

getCartAccel() reads back the Cartesian acceleration limits specified by setCartAccel(). If either of the argument pointers is given as NULL, the corresponding value is not returned.

getJointAccel() reads back the joint acceleration limits specified by setJointAccel(). If the argument pointer jacc is specified as NULL, the values are not returned (this rather useless capability was installed purely for symmetry with getCartAccel()).

getAccelScale() reads back the acceleration scale specified by setCartAccel().

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.).

getJointAccel() may set the following error codes:

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

No other errors are currently implemented.

SEE ALSO
rcclCreate(3), setSpeed(3), move(3), JLS(3), rcclSetOptions(3), errorStack(3).