File locations :

/home/user/linuxcnc/src/emc/kinematics/rotarydeltakins.c
/home/user/linuxcnc/src/emc/kinematics/rotarydeltakins.cc
/home/user/linuxcnc/src/emc/kinematics/rotarydeltakins-common.h

// $ git clone https://github.com/grotius-cnc/linuxcnc.git
// install dependencies
// $ ./autogen.sh
// $ ./configure --with-realtime=uspace 
// $ make
// $ sudo make setuid

//Added extra trans positions a,b,c,u,v,w,
/home/user/linuxcnc/src/emc/nml_intf/emcpos.h
#define ZERO_EMC_POSE(pos) do { \
pos.tran.x = 0.0;               \
pos.tran.y = 0.0;               \
pos.tran.z = 0.0;               \
pos.tran.a = 0.0;               \
pos.tran.b = 0.0;               \
pos.tran.c = 0.0;               \
pos.tran.u = 0.0;               \
pos.tran.v = 0.0;               \
pos.tran.w = 0.0; } while(0)
#endif


//Added various transfer position to posemath.h + a,b,c,u,v,w 
/src/libnml/posemath/posemath.h 

/* PmCartesian */
    typedef struct {
	double x, y, z, a, b, c, u, v, w;		/* this.x, etc. */
    } PmCartesian;


//posemath.cc
PM_CARTESIAN::PM_CARTESIAN(double _x, double _y, double _z, double _a, double _b, double _c, double _u, double _v, double _w)
{
    x = _x;
    y = _y;
    z = _z;
    
    a = _a;
    b = _b;
    c = _c;
    
    u = _u;
    v = _v;
    w = _w;
}

//posemath.cc line 660:
PM_POSE::PM_POSE(double x, double y, double z, double a, double b, double c, double u, double v, double w,
    double s, double sx, double sy, double sz)
{
    tran.x = x;
    tran.y = y;
    tran.z = z;
    tran.a = a;
    tran.b = b;
    tran.c = c;
    tran.u = u;
    tran.v = v;
    tran.w = w;
    rot.s = s;
    rot.x = sx;
    rot.y = sy;
    rot.z = sz;
}

line : 749 + 373:
noCart = new PM_CARTESIAN(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);

//posemath.h
line 343 add a,b,c,u,v,w,

struct PM_CARTESIAN {
    /* ctors/dtors */
    PM_CARTESIAN() {
    };
    PM_CARTESIAN(double _x, double _y, double _z, double _a, double _b, double _c, double _u, double _v, double _w);
#ifdef INCLUDE_POSEMATH_COPY_CONSTRUCTORS
    PM_CARTESIAN(PM_CCONST PM_CARTESIAN & cart);	// added 7-May-1997
    // by WPS
#endif


emc/nml_intf/canon_position.cc:238:20: error: no matching function for call to ‘PM_CARTESIAN::PM_CARTESIAN(const double&, const double&, const double&)’
             this->w);

emc/task/emccanon.cc:1537:37: error: no matching function for call to ‘PM_CARTESIAN::PM_CARTESIAN(double, double, double)’
     PM_CARTESIAN plane_y(0.0,1.0,0.0);