typedef struct Pose{
	float ux;
	float uy;
	float uz;
	float vx;
	float vy;
	float vz;
	float wx;
	float wy;
	float wz;
	float ox;
	float oy;
	float oz;
}Pose;

void setupParams();	
void initialize(Pose *p1, Pose *p2);
void displayAt(float time);