#include <yarp/os/Port.h>

using namespace std;
using namespace yarp::os;

struct MoveVectros
{
    double *start;
    double *in;
    double *out;
    double *chIn;
    double *chOut;
};

struct WholeData
{
    double *leftPos;
    double *rightPos;
    double *pos;
    double *leftHandT;
    double *rightHandT;
    double *leftArmT;
    double *rightArmT;
};

struct Ports
{
    Port *lh, *rh, *la, *ra;
};