getActiveComply(3)

NAME
getActiveComply -- get comply specification for the currently executing RCCL motion.

USAGE
#include <rccl.h>

getActiveComply (mnp, maskp, force)
  MANIP *mnp;
  unsigned long *maskp;
  FORCE *force;

ARGUMENTS

mnp --
    Manipulator reference structure.

maskp --
    Pointer for returning bit mask.

force --
    Structure describing the bias forces/torques to be associated with the compliance (in units of either Newtons or Newton-meters). This argument is optional (may be specified as NULL).

DESCRIPTION
This routine is like getComply() except that it returns the compliance specification for the motion currently executing on the manipulator mnp.

getActiveComply() returns (through maskp) a bitmask indicating which degrees of freedom have been specified for compliance. The argument force (if not NULL) is used to return the bias values associated with the compliant degrees of freedom.

Compliance specifications are set with the commands setComply(), limit(), and comply(). RCCL does not actually implement the compliance; that must be done by control level application routines. For more information on the bitmask format, refer to setComply().

DIAGNOSTICS
No errors are currently implemented.

BUGS
This call is redundant with the information provided by the complyMask and complyValues fields of the MANIP structure.

SEE ALSO
setComply(3), comply(3).