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          <td class="mdname" nowrap> <em>vel</em>[]</td>
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          <td class="md">)&nbsp;</td>
          <td class="md" colspan="2"><code> [inline, virtual]</code></td>
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<p>
Convert position &amp; velocity information from the amplifier frame to the axis frame. 
<p>
The passed arrays contain a position and velocity for each amplifer on entry. These values should be converted to axis positions &amp; velocities in this function.<p>
By default, this function doesn't do anything, however it is a virtual function to allow it to be extended in sub-classes. <dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>pos</em>&nbsp;</td><td>An array of amplifer positions on entry, and axes positions on exit. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>vel</em>&nbsp;</td><td>An array of amplifier velocities on entry, and axis velocities on exit. </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>NULL on success or an <a class="el" href="classError.html">Error</a> pointer on failure. </dd></dl>

<p>
Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00330">330</a> of file <a class="el" href="CML__Linkage_8h-source.html">CML_Linkage.h</a>.    </td>
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<a class="anchor" name="a22"></a><!-- doxytag: member="Linkage::ConvertAmpToAxisPos" ref="a22" args="(uunit pos[])" --><p>
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          <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* ConvertAmpToAxisPos           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a>&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>pos</em>[]          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [inline, virtual]</code></td>
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<p>
Convert the linkage position from the amplifier frame to the axis frame. 
<p>
The passed array contains a position for each amplifer on entry. These positions should be converted to axis positions in this function. By default, this function doesn't do anything, however it is a virtual function to allow it to be extended in sub-classes. <dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>pos</em>&nbsp;</td><td>An array of amplifer positions on entry, and axes positions on exit. </td></tr>
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</dl>
<dl compact><dt><b>Returns:</b></dt><dd>NULL on success or an <a class="el" href="classError.html">Error</a> pointer on failure. </dd></dl>

<p>
Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00305">305</a> of file <a class="el" href="CML__Linkage_8h-source.html">CML_Linkage.h</a>.    </td>
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<a class="anchor" name="a25"></a><!-- doxytag: member="Linkage::ConvertAxisToAmp" ref="a25" args="(uunit pos[], uunit vel[])" --><p>
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          <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* ConvertAxisToAmp           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>pos</em>[], </td>
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          <td class="md" nowrap align="right"></td>
          <td class="md"></td>
          <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a11">uunit</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>vel</em>[]</td>
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          <td class="md">)&nbsp;</td>
          <td class="md" colspan="2"><code> [inline, virtual]</code></td>
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<p>
Convert position &amp; velocity information from the axis frame to the amplifier frame. 
<p>
The passed arrays contain a position and velocity for each axis on entry. These values should be converted to amp positions &amp; velocities in this function.<p>
By default, this function doesn't do anything, however it is a virtual function to allow it to be extended in sub-classes. <dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>pos</em>&nbsp;</td><td>An array of axis positions on entry, and amplifier positions on exit. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>vel</em>&nbsp;</td><td>An array of axis velocities on entry, and amplifier velocities on exit. </td></tr>
  </table>
</dl>
<dl compact><dt><b>Returns:</b></dt><dd>NULL on success or an <a class="el" href="classError.html">Error</a> pointer on failure. </dd></dl>

<p>
Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00344">344</a> of file <a class="el" href="CML__Linkage_8h-source.html">CML_Linkage.h</a>.    </td>
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<a class="anchor" name="a23"></a><!-- doxytag: member="Linkage::ConvertAxisToAmpPos" ref="a23" args="(uunit pos[])" --><p>
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          <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* ConvertAxisToAmpPos           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a>&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>pos</em>[]          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [inline, virtual]</code></td>
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<p>
Convert the linkage position from the axis frame to the amplifier frame. 
<p>
The passed array contains a position for each axis on entry. These positions should be converted to amplifier positions in this function. By default, this function doesn't do anything, however it is a virtual function to allow it to be extended in sub-classes. <dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>pos</em>&nbsp;</td><td>An array of axis positions on entry, and amp positions on exit. </td></tr>
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</dl>
<dl compact><dt><b>Returns:</b></dt><dd>NULL on success or an <a class="el" href="classError.html">Error</a> pointer on failure. </dd></dl>

<p>
Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00315">315</a> of file <a class="el" href="CML__Linkage_8h-source.html">CML_Linkage.h</a>.    </td>
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<a class="anchor" name="a5"></a><!-- doxytag: member="Linkage::GetAmp" ref="a5" args="(uint16 i)" --><p>
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          <td class="md" nowrap valign="top"><a class="el" href="classAmp.html">Amp</a> &amp; GetAmp           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a8">uint16</a>&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>i</em>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap></td>
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<p>
Get a reference to the amplifier object at the specified location in the linkage. 
<p>
Note that if CML_DEBUG_ASSERT is defined, then the standard C assert function will be used to check for an invalid index.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>i</em>&nbsp;</td><td>The index of the amplifier to access. </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>A reference to the amplifier object.</dd></dl>

<p>
Definition at line <a class="el" href="Linkage_8cpp-source.html#l00239">239</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>.    </td>
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<a class="anchor" name="a19"></a><!-- doxytag: member="Linkage::GetAmpCount" ref="a19" args="(void)" --><p>
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          <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a8">uint16</a> GetAmpCount           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
          <td class="mdname1" valign="top" nowrap>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [inline]</code></td>
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<p>
Return the number of amplifiers associated with this linkage. 
<p>
<dl compact><dt><b>Returns:</b></dt><dd>The amplifier count. </dd></dl>

<p>
Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00280">280</a> of file <a class="el" href="CML__Linkage_8h-source.html">CML_Linkage.h</a>.    </td>
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<a class="anchor" name="a20"></a><!-- doxytag: member="Linkage::GetAxesCount" ref="a20" args="(void)" --><p>
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          <td class="md" nowrap valign="top">virtual <a class="el" href="CML__Utils_8h.html#a8">uint16</a> GetAxesCount           </td>
          <td class="md" valign="top">(&nbsp;</td>