#ifdef RTAPI
#include "rtapi.h"		
#include "rtapi_app.h"		
#include "hal.h"

int kinematicsForward(const double *joint, EmcPose *world,
const KINEMATICS_FORWARD_FLAGS *fflags,
KINEMATICS_INVERSE_FLAGS *iflags)


{double AD2 = joints[0] * joints[0];
double BD2 = joints[1] * joints[1];
double x = (AD2 - BD2 + Bx * Bx) / (2 * Bx);
double y2 = AD2 - x * x;
if(y2 < 0) return -1;
pos->tran.x = x;
pos->tran.y = sqrt(y2);
return 0;}


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

{double x2 = pos->tran.x * pos->tran.x;
double y2 = pos->tran.y * pos->tran.y;
joints[0] = sqrt(x2 + y2);
joints[1] = sqrt((Bx - pos->tran.x)*(Bx - pos->tran.x) + y2);
return 0;}

KINEMATICS_TYPE kinematicsType(void)

int kinematicsHome(EmcPose *world, double *joint,
KINEMATICS_FORWARD_FLAGS *fflags,
KINEMATICS_INVERSE_FLAGS *iflags)