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