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          <td class="md" nowrap valign="top">void&nbsp;</td>
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          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [inline, virtual]</code></td>
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<p>
Return the number of independent axes associated with this linkage. 
<p>
For a standard Linkage object, this will be the same as the amp count, however, this function is virtual to allow more complex structures to be represented in sub-classes. <dl compact><dt><b>Returns:</b></dt><dd>The number of independent axes for this Linkage. </dd></dl>

<p>
Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00290">290</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="a16"></a><!-- doxytag: member="Linkage::GetLatchedError" ref="a16" args="(int &amp;amp)" --><p>
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          <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a>* GetLatchedError           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">int &amp;&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>amp</em>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [inline]</code></td>
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<p>
Return any latched error codes held by the linkage object. 
<p>
When an error occurs during a move, the linkage latches the first error to occure and the index of the amplifier that caused it.<p>
Note that the latched error information will be reset automatically at the start of any new move.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>amp</em>&nbsp;</td><td>The index of the amplifier producing the latched error will be returned. -1 will be returned if the amplifier is unknown. </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>A pointer to the latched error object, or NULL if no error was latched. </dd></dl>

<p>
Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00253">253</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="a8"></a><!-- doxytag: member="Linkage::GetMoveLimits" ref="a8" args="(uunit &amp;vel, uunit &amp;acc, uunit &amp;dec, uunit &amp;jrk)" --><p>
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          <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a> * GetMoveLimits           </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> &amp;&nbsp;</td>
          <td class="mdname" nowrap> <em>vel</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> &amp;&nbsp;</td>
          <td class="mdname" nowrap> <em>acc</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> &amp;&nbsp;</td>
          <td class="mdname" nowrap> <em>dec</em>, </td>
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          <td class="md"></td>
          <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a11">uunit</a> &amp;&nbsp;</td>
          <td class="mdname" nowrap> <em>jrk</em></td>
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<p>
Return the move limits currently set for this linkage. 
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>vel</em>&nbsp;</td><td>Returns maximum velocity </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>acc</em>&nbsp;</td><td>Returns maximum acceleration </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>dec</em>&nbsp;</td><td>Returns maximum deceleration </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>jrk</em>&nbsp;</td><td>Returns maximum jerk </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>An error object pointer, or NULL on success.</dd></dl>

<p>
Definition at line <a class="el" href="Linkage_8cpp-source.html#l00328">328</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>.    </td>
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<a class="anchor" name="a21"></a><!-- doxytag: member="Linkage::GetPositionCommand" ref="a21" args="(PointN &amp;p)" --><p>
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          <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a> * GetPositionCommand           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="classPointN.html">PointN</a> &amp;&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>p</em>          </td>
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<p>
Get the current commanded position of the linkage. 
<p>
Note that this function queries the position of each amplifier sequentially and therefore the returned position information will only be accurate if the linkage is at rest when the function is called.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>p</em>&nbsp;</td><td>A point that will be filled in with the current Linkage commanded position. </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>An error object pointer, or NULL on success.</dd></dl>

<p>
Definition at line <a class="el" href="Linkage_8cpp-source.html#l00258">258</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>.    </td>
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<a class="anchor" name="a14"></a><!-- doxytag: member="Linkage::HaltMove" ref="a14" args="(void)" --><p>
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          <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a> * HaltMove           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
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<p>
Halt the current move. 
<p>
The exact type of halt can be programmed individually for each axis using the <a class="el" href="classAmp.html#z9_4">Amp::SetHaltMode</a> function. <dl compact><dt><b>Returns:</b></dt><dd>An error object pointer, or NULL on success.</dd></dl>

<p>
Definition at line <a class="el" href="Linkage_8cpp-source.html#l00537">537</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>.    </td>
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<a class="anchor" name="a3"></a><!-- doxytag: member="Linkage::Init" ref="a3" args="(uint16 ct, Amp *a[])" --><p>
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          <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a> * Init           </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="mdname" nowrap> <em>ct</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="classAmp.html">Amp</a> *&nbsp;</td>
          <td class="mdname" nowrap> <em>a</em>[]</td>
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          <td class="md">)&nbsp;</td>
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<p>
Initialize a new linkage object. 
<p>
If the object has already been initialized, this will fail with an error.<p>
All amplifiers attached to a linkage must be initialized, and must share the same <a class="el" href="classCanOpen.html">CanOpen</a> network object. Also, amplifiers may only be attached to one linkage at a time, so this function will fail if any of the passed amplifier objects is already attached to a Linkage.<p>
The linkage object will maintain pointers to each of the amplifier objects passed to this function. The amplifiers may not be destroyed until after the linkage object is.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>