egm_interface.h

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#ifndef EGM_INTERFACE_H_
#define EGM_INTERFACE_H_
#include "Base/robotStruct.h"
 
 
#ifdef __cplusplus
namespace HYYRobotBase
{
extern "C" {
#endif
 
extern int EGMCreate_c(const char* name, int robot_index, int guide_type, int input_type, int cycle_times,  tool* tool, wobj* wobj);
 
extern void EGMRelease_c(const char* name);
 
extern int EGMRunJoint_c(const char* name, int block);
 
 
extern int EGMCreateForMATLAB(int robot_index, int guide_type, int input_type, int cycle_times, const char* tool, const char* wobj);
 
extern void EGMInputForMATLAB(int robot_index, double* data);
 
extern void EGMInputJointForMATLAB(int robot_index, double* data);
 
extern int EGMOutputForMATLAB(int robot_index, double* xyzrpy, double* sensor_force);
 
extern int EGMInputKeyForMATLAB(int robot_index, int key_index);
 
extern void EGMReleaseForMATLAB(int robot_index);
 
#ifdef __cplusplus
}
}
#endif
 
 
#endif /* EGM_INTERFACE_H_ */