Errors in kinematics

well , i read the documentation and i knew that i have to implement forward and inverse kinematics with those functions
int kinematicsForward(const double *joint, EmcPose *world,
const KINEMATICS_FORWARD_FLAGS *fflags,
KINEMATICS_INVERSE_FLAGS *iflags)

int kinematicsInverse(const EmcPose * world, double *joints,
const KINEMATICS_INVERSE_FLAGS *iflags,
KINEMATICS_FORWARD_FLAGS *fflags)

and to avoid any problems i took the (c code ) of bi pod that was in the documentation and i added the functions but i still have problems"(
i will attach the code and the errors

thanks again for helping

You don't say what the error is that you see, but I think that perhaps your kins file fails to return a kinematics_type.

Have a look at trivkins for an example, there is a definied function that returns the kinematics type.

github.com/LinuxCNC/linuxcnc/blob/master...inematics/trivkins.c