//
//  Academic License - for use in teaching, academic research, and meeting
//  course requirements at degree granting institutions only.  Not for
//  government, commercial, or other organizational use.
//
//  get_Kinematics.h
//
//  Code generation for function 'get_Kinematics'
//


#pragma once

// Include files
#include <cmath>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include "mex.h"
#include "emlrt.h"
#include "rtwtypes.h"
#include "calculateGravityForce_types.h"

// Function Declarations
void get_Kinematics(const emlrtStack *sp, real_T *robot_ndof, real_T robot_m[9],
                    real_T robot_I[81], real_T robot_com[27], real_T robot_axis
                    [27], real_T robot_com_pos_R1[27], real_T robot_com_pos_R2
                    [27], real_T robot_slist[54], real_T robot_theta[9], real_T
                    robot_dtheta[9], real_T robot_ddtheta[9], real_T
                    robot_Home_com[27], real_T robot_Home_R[81], real_T
                    robot_Home_P[27], real_T robot_Home_M[144], struct_T
                    *robot_kine, real_T robot_gravity[3]);

// End of code generation (get_Kinematics.h)