(get-info ... )

(get-info data_type access_reference)

The (get-info ... ) function requires the following two arguments to get information about an access:

• data_type: a string defining the type of data to request.
• access_reference: an access on an object.

The following types of access-specific data can be requested using the standard (get-info ...) function:

• 'speed
• 'position
• 'force
• 'admittance

Note that the access must have a connection connected to it in order to obtain the connection force value!

Examples of using the above are:

• (get-info 'speed foo-acc)

  (get-info 'position foo-acc)

  (get-info 'force foo-acc) ; must have a connection connected to it!

  (get-info 'admittance foo-acc) ; inverse impedance

Although there already exist built-in functions to get much of this information and output it as a Modalys controller, you could also use a 'foreign-call controller to do much the same thing:

• (make-controller 'foreign-call 1 0

  • (lambda (ins outs) (vset outs 0 (get-info 'speed access-ref)))

    '())

However, obtaining the access speed this way is much more computationally expensive. Nonetheless, it is the only way, for the moment, to make a controller from the access admittance (i.e. inverse impedance) data.

There are no special options for this function.

Modalys Tutorial Example [examples coming soon!]