MANIP MACROS(3)

NAME
MANIP_ROBOT, MANIP_CPU, MANIP_TASK -- get task information about an RCCL manipulator.

USAGE
#include <rccl.h>

RCI_RBT *MANIP_ROBOT(mnp)
   MANIP *mnp;

MANIP_CPU(mnp)
   MANIP *mnp;

RCI_DESC *MANIP_TASK(mnp)
   MANIP *mnp;

ARGUMENTS

mnp --
    Manipulator reference structure, returned by rcclCreate().

DESCRIPTION
These macros are used to obtain control task information and auxiliary data structures for a manipulator being controlled by an RCCL program.

NOTE -- The MANIP_ROBOT() macro is obsolete because the MANIP structure now contains an explicit pointer to the RCI_RBT structure. The macro is retained only for compatibility reasons.

MANIP_ROBOT() returns the robot descriptor (type RCI_RBT) for a robot associated with a MANIP structure. The robot descriptor is the RCI level interface to the robot.

MANIP_CPU() returns the number of the CPU where the trajectory task for the manipulator is being run.

MANIP_TASK() returns the descriptor of the RCI task which generates the manipulator's trajectories. One RCI task may compute trajectories for several manipulators. For a description of the RCI task descriptor, see RCI_DESC(3).

DIAGNOSTICS
If the MANIP structure corresponds to only a virtual manipulator and not a real robot, then MANIP_ROBOT() returns NULL.

SEE ALSO
manip(3), rcclCreate(3), RCI_RBT(3), RCI_DESC(3), HOW(3), CHG(3).