Lathe Rigid tapping G33.1 with tailstock as W axis

emc/tp/tc.c: In function ‘tcGetStartTangentUnitVector’:
emc/tp/tc.c:208:41: error: ‘PmCartesian {aka const struct <anonymous>}’ has no m                                                                                               ember named ‘uVec’
             *out=tc->coords.rigidtap.uvw.uVec;
                                         ^
emc/tp/tc.c: In function ‘tcGetEndTangentUnitVector’:
emc/tp/tc.c:231:52: error: ‘PmCartesian {aka const struct <anonymous>}’ has no m                                                                                               ember named ‘uVec’
             pmCartScalMult(&tc->coords.rigidtap.uvw.uVec, -1.0, out);
                                                    ^
emc/tp/tc.c: In function ‘tcGetPosReal’:
emc/tp/tc.c:305:33: warning: passing argument 1 of ‘pmCartLinePoint’ from incomp                                                                                               atible pointer type [-Wincompatible-pointer-types]
                 pmCartLinePoint(&tc->coords.rigidtap.uvw, progress, &uvw);
                                 ^
In file included from emc/tp/tc.c:19:0:
./libnml/posemath/posemath.h:941:16: note: expected ‘const PmCartLine * const {a                                                                                               ka const struct <anonymous> * const}’ but argument is of type ‘const PmCartesian                                                                                                * {aka const struct <anonymous> *}’
     extern int pmCartLinePoint(PmCartLine const * const line, double len, PmCar                                                                                               tesian * const point);
                ^~~~~~~~~~~~~~~
emc/tp/tc.c: In function ‘pmRigidTapInit’:
emc/tp/tc.c:724:52: error: ‘uvw’ undeclared (first use in this function)
     emcPoseToPmCartesian(start, &start_xyz, &abc, &uvw);
                                                    ^~~
emc/tp/tc.c:724:52: note: each undeclared identifier is reported only once for e                                                                                               ach function it appears in
emc/tp/tc.c:732:20: warning: passing argument 1 of ‘pmCartLineInit’ from incompa                                                                                               tible pointer type [-Wincompatible-pointer-types]
     pmCartLineInit(&tap->uvw, &start_uvw, &end_uvw);
                    ^
In file included from emc/tp/tc.c:19:0:
./libnml/posemath/posemath.h:940:16: note: expected ‘PmCartLine * const {aka str                                                                                               uct <anonymous> * const}’ but argument is of type ‘PmCartesian * {aka struct <an                                                                                               onymous> *}’
     extern int pmCartLineInit(PmCartLine * const line, PmCartesian const * cons                                                                                               t start, PmCartesian const * const end);
                ^~~~~~~~~~~~~~
emc/tp/tc.c:740:36: error: ‘PmCartesian {aka struct <anonymous>}’ has no member                                                                                                named ‘tmag’
     tap->reversal_target = tap->uvw.tmag;
                                    ^
emc/tp/tc.c: In function ‘pmRigidTapTarget’:
emc/tp/tc.c:750:49: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ befo                                                                                               re ‘->’ token
     double target = tap->xyz.tmag + overrun, tap->uvw.tmag + overrun;