\input manualMacros.tex
\manBegin
\manPageInfo{RCI Reference Manual}{}{}
\manTitle{TASKROBOT}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{TASKROBOT}},
{\tt \manName{TASKNUMROBOTS}}
-- RCI macros to get robot info from task descriptor.

}
\manSection{USAGE}
\cverbatim
TASKNUMROBOTS(td)
  RCI_DESC *td;

RCI_RBT *TASKROBOT(td, num)
  RCI_DESC *td;
  int num; @endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt td} --}
Pointer to task descriptor.
\manItem{{\tt num} --}
Number of the robot. 
\manSection{DESCRIPTION}
These macros can be used to obtain information about the robots which
are attached to an RCI control task. They may be called from any part of
an RCI program.

{\tt TASKNUMROBOTS()} returns the number of robots attached to a task.

{\tt TASKROBOT()} returns a pointer to the robot structure for
the {\TT num}-th robot attached to a task. {\TT num} is an index
in the range 0 to {\tt MAX_TASKROBOTS}, and is the same
value returned by {\tt rciAttachRobot()}.

\manSection{DIAGNOSTICS}
{\tt TASKROBOT()} will return {\tt NULL} if there is no robot attached to the
task with the indicated number.

\manSection{NOTES}
{\tt TASKROBOT()} has recently been reimplemented as a function.

\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt rciAttachRobot(3)}, {\tt getTaskRobot(3)}, {\tt RCI_RBT(3)}.
\manEnd
\end
