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    <tr><td valign="top"></td><td valign="top"><em>ct</em>&nbsp;</td><td>The number of amplifiers to be used with this linkage. Note that this must be between 1 and CML_MAX_AMPS_PER_LINK.</td></tr>
    <tr><td valign="top"></td><td valign="top"><em>a</em>&nbsp;</td><td>An array of pointer to amplifier objects to be assigned to this linkage. There must be at least ct pointers in this array.</td></tr>
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<p>
Definition at line <a class="el" href="Linkage_8cpp-source.html#l00168">168</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>.    </td>
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<a class="anchor" name="a2"></a><!-- doxytag: member="Linkage::Init" ref="a2" 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>
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    <tr><td valign="top"></td><td valign="top"><em>ct</em>&nbsp;</td><td>The number of amplifiers to be used with this linkage. Note that this must be between 1 and CML_MAX_AMPS_PER_LINK.</td></tr>
    <tr><td valign="top"></td><td valign="top"><em>a</em>&nbsp;</td><td>An array of amplifiers to be assigned to this linkage. There must be at least ct amplifiers in this array.</td></tr>
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<p>
Definition at line <a class="el" href="Linkage_8cpp-source.html#l00134">134</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>.    </td>
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<a class="anchor" name="a9"></a><!-- doxytag: member="Linkage::MoveTo" ref="a9" args="(PointN &amp;p, bool start=true)" --><p>
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          <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a> * MoveTo           </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="mdname" nowrap> <em>p</em>, </td>
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          <td class="md" nowrap>bool&nbsp;</td>
          <td class="mdname" nowrap> <em>start</em> = <code>true</code></td>
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          <td class="md">)&nbsp;</td>
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<p>
Move to a specified position. 
<p>
This move uses the limits previously set using <a class="el" href="classLinkage.html#a7">Linkage::SetMoveLimits</a>.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>p</em>&nbsp;</td><td>The point to move to. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>start</em>&nbsp;</td><td>If true (the default), the profile will be started by this call. If false, the profile will be uploaded, but not started. In that case the move may be later started by a call to <a class="el" href="classLinkage.html#a10">Linkage::StartMove</a>. </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#l00349">349</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>.    </td>
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<a class="anchor" name="a6"></a><!-- doxytag: member="Linkage::MoveTo" ref="a6" args="(PointN &amp;p, uunit vel, uunit acc, uunit dec, uunit jrk, bool start=true)" --><p>
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          <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a> * MoveTo           </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="mdname" nowrap> <em>p</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" 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>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>&nbsp;</td>
          <td class="mdname" nowrap> <em>dec</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>jrk</em>, </td>
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          <td class="md" nowrap align="right"></td>
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          <td class="md" nowrap>bool&nbsp;</td>
          <td class="mdname" nowrap> <em>start</em> = <code>true</code></td>
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          <td class="md">)&nbsp;</td>
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<p>
Move to a point in space. 
<p>
The number of dimensions of the point must equal the number of axes controlled by the Linkage (as returned by <a class="el" href="classLinkage.html#a20">Linkage::GetAxesCount</a>).<p>
This method causes the linkage to perform a straight line move in N space from the present position to the specified point. The move will be limited in velocity, acceleration &amp; jerk to the passed values.<p>
The linkage is assumed to be at rest when this method is called. If this isn't the case, then an error will result.<p>
Note that this function causes a trajectory to be calculated and passed to the amplifiers as a series of PVT points. This calculation requires floating point math, so this function is not available if floating point support has not been enabled in <a class="el" href="CML__Settings_8h.html">CML_Settings.h</a>.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>p</em>&nbsp;</td><td>The point in N space to move to. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>vel</em>&nbsp;</td><td>Maximum velocity </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>acc</em>&nbsp;</td><td>Maximum acceleration </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>dec</em>&nbsp;</td><td>Maximum deceleration </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>jrk</em>&nbsp;</td><td>Maximum jerk </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>start</em>&nbsp;</td><td>If true (the default), the profile will be started by this call. If false, the profile will be uploaded, but not started. In that case the move may be later started by a call to <a class="el" href="classLinkage.html#a10">Linkage::StartMove</a>.</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#l00383">383</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>.    </td>
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<a class="anchor" name="a18"></a><!-- doxytag: member="Linkage::operator[]" ref="a18" args="(uint16 i)" --><p>
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          <td class="md" nowrap valign="top"><a class="el" href="classAmp.html">Amp</a>&amp; operator[]           </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><code> [inline]</code></td>
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<p>
Return a reference to the specified amplifier object in this linkage. 
<p>
This is the same as <a class="el" href="classLinkage.html#a5">Linkage::GetAmp</a> <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 amplifier index location </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>A reference to the amp object </dd></dl>

<p>
Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00273">273</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="a7"></a><!-- doxytag: member="Linkage::SetMoveLimits" ref="a7" args="(uunit vel, uunit acc, uunit dec, uunit jrk)" --><p>
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          <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a> * SetMoveLimits           </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>vel</em>, </td>
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