#ifndef SIM_NATIVE_HOMING_H
#define SIM_NATIVE_HOMING_H
#include <stdint.h>
typedef struct native_home native_home;
uint32_t sim_native_home_size(void);
int sim_native_home_init(native_home *, int count, double period);
int sim_native_home_config(native_home *, int joint, const double *parameters);
int sim_native_home_sync(native_home *, const double *joints);
int sim_native_home_mode(native_home *, int mode);
int sim_native_home_start(native_home *, int joint, uint32_t seq);
int sim_native_home_step(native_home *);
int sim_native_home_cancel(native_home *, int volatile_only);
int sim_native_home_input(native_home *, int joint, int home_switch, int index_enable, int negative_limit, int positive_limit);
double sim_native_home_get(native_home *, int joint, int field);
#endif