\section{motion.h File Reference}
\label{motion_8h}\index{motion.h@{motion.h}}
{\tt \#include $<$sys/conf.h$>$}\par
{\tt \#include $<$sys/types.h$>$}\par
{\tt \#include $<$sys/param.h$>$}\par
{\tt \#include $<$sys/errno.h$>$}\par
{\tt \#include $<$sys/file.h$>$}\par
{\tt \#include $<$sys/time.h$>$}\par
{\tt \#include $<$sys/uio.h$>$}\par
{\tt \#include $<$sys/map.h$>$}\par
{\tt \#include $<$sys/debug.h$>$}\par
{\tt \#include $<$sys/modctl.h$>$}\par
{\tt \#include $<$sys/kmem.h$>$}\par
{\tt \#include $<$sys/cmn\_\-err.h$>$}\par
{\tt \#include $<$sys/open.h$>$}\par
{\tt \#include $<$sys/stat.h$>$}\par
{\tt \#include $<$sys/ddi.h$>$}\par
{\tt \#include $<$sys/sunddi.h$>$}\par
{\tt \#include $<$fcntl.h$>$}\par
{\tt \#include $<$values.h$>$}\par
{\tt \#include $<$math.h$>$}\par
{\tt \#include $<$stdio.h$>$}\par
{\tt \#include $<$unistd.h$>$}\par
{\tt \#include $<$pthread.h$>$}\par
\subsection*{Data Structures}
\begin{CompactItemize}
\item 
struct {\bf Motion}
\item 
struct {\bf Traject}
\item 
struct {\bf Translation}
\end{CompactItemize}
\subsection*{Typedefs}
\begin{CompactItemize}
\item 
typedef int {\bf coord\_\-t}
\item 
typedef double {\bf velocity\_\-t}
\item 
typedef double {\bf mass\_\-t}
\item 
typedef {\bf Motion} $\ast$ {\bf pmotion}
\item 
typedef {\bf Translation} $\ast$ {\bf ptranslation}
\item 
typedef {\bf Traject} $\ast$ {\bf ptraject}
\end{CompactItemize}
\subsection*{Functions}
\begin{CompactItemize}
\item 
int {\bf openstage} ({\bf ptraject} stage, const char $\ast$path)
\item 
int {\bf closestage} ({\bf ptraject} stage)
\item 
void {\bf disposestage} ({\bf ptraject} stage)
\item 
int {\bf movestage} ({\bf ptraject} stage, {\bf pmotion} motn)
\item 
{\bf ptraject} {\bf newxystage} (void)
\item 
int {\bf start} (int {\bf fd}, {\bf ptranslation} state, pthread\_\-attr\_\-t $\ast$ptattr)
\item 
int {\bf stop} ({\bf ptranslation} state)
\item 
int {\bf moveto} ({\bf ptranslation} state, {\bf pmotion} goal)
\item 
int {\bf where} ({\bf ptranslation} state, {\bf pmotion} here)
\item 
void {\bf showreg} (int {\bf fd})
\end{CompactItemize}


\subsection{Typedef Documentation}
\index{motion.h@{motion.h}!coord_t@{coord\_\-t}}
\index{coord_t@{coord\_\-t}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}typedef int coord\_\-t}\label{motion_8h_a0}




Definition at line 25 of file motion.h.\index{motion.h@{motion.h}!mass_t@{mass\_\-t}}
\index{mass_t@{mass\_\-t}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}typedef double mass\_\-t}\label{motion_8h_a2}




Definition at line 27 of file motion.h.\index{motion.h@{motion.h}!pmotion@{pmotion}}
\index{pmotion@{pmotion}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}typedef struct {\bf Motion}$\ast$ pmotion}\label{motion_8h_a3}




Definition at line 35 of file motion.h.\index{motion.h@{motion.h}!ptraject@{ptraject}}
\index{ptraject@{ptraject}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}typedef struct {\bf Traject}$\ast$ ptraject}\label{motion_8h_a5}




Definition at line 64 of file motion.h.\index{motion.h@{motion.h}!ptranslation@{ptranslation}}
\index{ptranslation@{ptranslation}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}typedef struct {\bf Translation}$\ast$ ptranslation}\label{motion_8h_a4}




Definition at line 55 of file motion.h.\index{motion.h@{motion.h}!velocity_t@{velocity\_\-t}}
\index{velocity_t@{velocity\_\-t}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}typedef double velocity\_\-t}\label{motion_8h_a1}




Definition at line 26 of file motion.h.

\subsection{Function Documentation}
\index{motion.h@{motion.h}!closestage@{closestage}}
\index{closestage@{closestage}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}int closestage ({\bf ptraject} {\em stage})}\label{motion_8h_a7}




Definition at line 84 of file motion.c.

Referenced by Stage\-Motion\_\-Close\_\-Cmd.\index{motion.h@{motion.h}!disposestage@{disposestage}}
\index{disposestage@{disposestage}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}void disposestage ({\bf ptraject} {\em stage})}\label{motion_8h_a8}




Definition at line 106 of file motion.c.

Referenced by Stage\-Motion\_\-Close\_\-Cmd.\index{motion.h@{motion.h}!movestage@{movestage}}
\index{movestage@{movestage}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}int movestage ({\bf ptraject} {\em stage}, {\bf pmotion} {\em motn})}\label{motion_8h_a9}




Definition at line 113 of file motion.c.

Referenced by Stage\-Motion\_\-Move\_\-Cmd.\index{motion.h@{motion.h}!moveto@{moveto}}
\index{moveto@{moveto}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}int moveto ({\bf ptranslation} {\em state}, {\bf pmotion} {\em goal})}\label{motion_8h_a13}




Definition at line 294 of file motion.c.

Referenced by movestage.\index{motion.h@{motion.h}!newxystage@{newxystage}}
\index{newxystage@{newxystage}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}{\bf ptraject} newxystage (void)}\label{motion_8h_a10}




Definition at line 159 of file motion.c.\index{motion.h@{motion.h}!openstage@{openstage}}
\index{openstage@{openstage}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}int openstage ({\bf ptraject} {\em stage}, const char $\ast$ {\em path})}\label{motion_8h_a6}




Definition at line 61 of file motion.c.

References Traject::axis.

Referenced by Stage\-Motion\_\-Open\_\-Cmd.\index{motion.h@{motion.h}!showreg@{showreg}}
\index{showreg@{showreg}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}void showreg (int {\em fd})}\label{motion_8h_a15}




Definition at line 41 of file motion.c.

References Translation::offtrack.\index{motion.h@{motion.h}!start@{start}}
\index{start@{start}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}int start (int {\em fd}, {\bf ptranslation} {\em state}, pthread\_\-attr\_\-t $\ast$ {\em ptattr})}\label{motion_8h_a11}




Definition at line 441 of file motion.c.

Referenced by openstage.\index{motion.h@{motion.h}!stop@{stop}}
\index{stop@{stop}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}int stop ({\bf ptranslation} {\em state})}\label{motion_8h_a12}




Definition at line 475 of file motion.c.

Referenced by closestage.\index{motion.h@{motion.h}!where@{where}}
\index{where@{where}!motion.h@{motion.h}}
\subsubsection{\setlength{\rightskip}{0pt plus 5cm}int where ({\bf ptranslation} {\em state}, {\bf pmotion} {\em here})}\label{motion_8h_a14}




Definition at line 335 of file motion.c.

Referenced by findstage.