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// To parse this JSON data, add NuGet 'Newtonsoft.Json' then do:
//

//
//    var root = Root.FromJson(jsonString);

namespace AionJsonFormat
{
    using System.Net;
    using System;

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// To parse this JSON data, add NuGet 'Newtonsoft.Json' then do:
//

//
//    var root = Root.FromJson(jsonString);

namespace QuickType
{
    using System.Net;
    using System;

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// To parse this JSON data, add NuGet 'Newtonsoft.Json' then do:
//
//    using QuickType;
//
//    var root = Root.FromJson(jsonString);

namespace QuickType
{
    using System;
    using System.Collections.Generic;

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	t2 = +2.0 * (w * w + z * z) - 1
	t2 = +1.0 if t2 > +1.0 else t2
	t2 = -1.0 if t2 < -1.0 else t2

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	t2 = +2.0 * (w * w + z * z) - 1
	t2 = +1.0 if t2 > +1.0 else t2
	t2 = -1.0 if t2 < -1.0 else t2

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using System.Collections;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using UnityEngine;

public class KinovaAPI : MonoBehaviour
{

  // TODO: Give external functions prefix to easily identify them as such (e.g., extern_InitRobot)
  //https://stackoverflow.com/questions/7276389/confused-over-dll-entry-points-entry-point-not-found-exception

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// ARMbase32.cpp : Defines the exported functions for the DLL application.
//

#include "stdafx.h"



#include "ARM_BASE_ANGLES.h"
#include <Windows.h>
#include "CommunicationLayerWindows.h"

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#define DllExport __declspec(dllexport)
// https://docs.microsoft.com/en-us/cpp/build/exporting-from-a-dll-using-declspec-dllexport

extern "C"
{
	DllExport int TestFunction();
	DllExport int InitRobot();
	DllExport int MoveArmHome(bool rightArm);
	DllExport int MoveHand(bool rightArm, float x, float y, float z, float thetaX, float thetaY, float thetaZ);
	DllExport int MoveHandNoThetaY(bool rightArm, float x, float y, float z, float thetaX, float thetaZ);

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#include <Windows.h>
#include "CommunicationLayerWindows.h"
#include "CommandLayer.h"
#include <conio.h>
#include "KinovaTypes.h"
#include <iostream>


using namespace std;

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#include <Windows.h>
#include "CommunicationLayerWindows.h"
#include "CommandLayer.h"
#include <conio.h>
#include "KinovaTypes.h"
#include <iostream>


using namespace std;