cellulounity.h
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	#ifndef CELLULOUNITY_H
	#define CELLULOUNITY_H

	#include <stdint.h>

	typedef void (*callback_t)();

	extern "C" {
	// cellulo
	void initialize();
	int64_t newRobot();

	void destroyRobot(int64_t robot);

	void setGoalVelocity(int64_t robot, float vx, float vy, float w);
	void setGoalPose(int64_t robot, float x, float y, float theta, float v, float w);
	void setGoalPosition(int64_t robot, float x, float y, float v);
	void clearTracking(int64_t robot);
	void clearHapticFeedback(int64_t robot);
	void setVisualEffect(int64_t robot, int64_t effect, int64_t r, int64_t g, int64_t b, int64_t value);
	void setCasualBackdriveAssistEnabled(int64_t robot, int64_t enabled);
	void setHapticBackdriveAssist(int64_t robot, float xAssist, float yAssist, float thetaAssist);
	void reset(int64_t robot);
	void simpleVibrate(int64_t robot, float iX, float iY, float iTheta, int64_t period, int64_t duration);

	float getX(int64_t robot);
	float getY(int64_t robot);
	float getTheta(int64_t robot);
	int64_t getKidnapped(int64_t robot);

	void setKidnappedCallback(int64_t robot, callback_t callback);
	int64_t robotsRemaining();
	int64_t totalRobots();
	}

	#endif // CELLULOUNITY_H