public static extern int rs_base_to_base_additional_tool(UInt16 rshd, ref MetaData.Pos flange_center_pos_onbase, ref MetaData.Ori flange_center_ori_onbase, ref MetaData.ToolInEndDesc tool_pos, ref MetaData.Pos tool_end_pos_onbase, ref MetaData.Ori tool_end_ori_onbase);
public static extern int rs_inverse_kin(UInt16 rshd, double[] joint_radia, ref MetaData.Pos pos, ref MetaData.Ori ori, ref MetaData.wayPoint_S waypoint);
public static extern int rs_user_to_base(UInt16 rshd, ref MetaData.Pos pos_onuser, ref MetaData.Ori ori_onuser, ref MetaData.CoordCalibrate user_coord, ref MetaData.ToolInEndDesc tool_pos, ref MetaData.Pos pos_onbase, ref MetaData.Ori ori_onbase);
public static extern int rs_move_joint_to(UInt16 rshd, ref MetaData.Pos target, ref MetaData.ToolInEndDesc tool, bool isblock);
