getSpeed(3)

NAME
getSpeed, getCartVel, getJointVel, getJvelScale, getDefaultCartVel, getDefaultJointVel -- read back velocity specs. for RCCL manipulators.

USAGE
#include <rccl.h>

float getSpeed (mnp)
  MANIP *mnp;

getCartVel (mnp, tvel, rvel)
  MANIP *mnp;
  float *tvel, *rvel;

getJointVel (mnp, jvel)
  MANIP *mnp;
  JNTS *jvel;

float getJvelScale (mnp)
  MANIP *mnp;

getDefaultCartVel (mnp, tvel, rvel)
  MANIP *mnp;
  float *tvel, *rvel;

getDefaultJointVel (mnp, jvel)
  MANIP *mnp;
  JNTS *jvel;

ARGUMENTS

mnp --
    Manipulator reference structure.

tvel, rvel --
    Return values for translational and rotational velocity (mm. per sec). These are optional and may be given as NULL.

jvel --
    Return values for rotational velocity (degrees or mm. per second).

RESTRICTIONS
getJointVel(), getJvelScale(), and getDefaultJointVel() are not defined for virtual manipulators.

DESCRIPTION
These routines read back the various speed and velocity values specified for a particular manipulator mnp.

getSpeed() returns the overall manipulator speed scale, specified by the routine setSpeed(), where a speed of 1.0 is the default value.

getCartVel() reads back the nominal translational and rotational velocities for Cartesian motions, specified by setCartVel(). If either of the argument pointers is given as NULL, the corresponding value is not returned.

getJointVel() reads back the nominal joint velocities specified by the routine setJointVel().

getJvelScale() returns the joint velocity scale factor, specified by the routine setJvelScale(), where the default value is 1.0.

getDefaultCartVel() gets the default Cartesian velocity settings associated with the manipulator. These are the values of the parameters tvel and rvel given in the .rciparams file. If these parameters are not defined, then the defined constants DEFAULT_TRANS_VEL and DEFAULT_ROT_VEL are used instead.

getDefaultJointVel() returns the default settings for the joint velocities associated with the manipulator. These are taken from the nominalVel field of the robot's JLS structure.

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.).

getJointVel(), getJvelScale(), and getDefaultJointVel() may set the following error codes:

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

No other errors are currently implemented.

SEE ALSO
getSpeed(3), move(3), rcclSetOptions(3), errorStack(3).