on the fly config

int kinematicsForward(const double *joints,
                     EmcPose * pos,
                     const KINEMATICS_FORWARD_FLAGS * fflags,
                     KINEMATICS_INVERSE_FLAGS * iflags)
{
   static int old_change = 0;
   
   if(*haldata->change == 1) {    
   pos->v = joints[1];
   pos->w = joints[2];
   } 
   else 
   {
   pos->v = joints[7];
   pos->w = joints[8];
   }
   pos->tran.x = joints[0];
   pos->tran.y = joints[1];
   pos->tran.z = joints[2];
   
   pos->a = joints[3];
   pos->b = joints[4];
   pos->c = joints[5];
   
   pos->u = joints[6];
   

   return 0;
}

int kinematicsInverse(const EmcPose * pos,
                     double *joints,
                     const KINEMATICS_INVERSE_FLAGS * iflags,
                     KINEMATICS_FORWARD_FLAGS * fflags)
{
   if(*haldata->change == 1) {  
   joints[7] = pos->tran.y;
   joints[8] = pos->tran.z;
   } 
   else 
   {
   joints[7] = pos->v;
   joints[8] = pos->w;
   }
   joints[0] = pos->tran.x;
   joints[1] = pos->tran.y;
   joints[2] = pos->tran.z;
   
   joints[3] = pos->a;
   joints[4] = pos->b;
   joints[5] = pos->c;
   
   joints[6] = pos->u;
   

   return 0;
}