arduino code error

[Deltaplc]

Good morning
The arduino code is not compiled ... it gives me these errors and others too ....
Do you have a solution?
CMM_Digitizer_DH_v4:67:5: error: 'Point' does not name a type

 Point deltaPose;

 ^

CMM_Digitizer_DH_v4:68:5: error: 'Matrix' does not name a type

 Matrix<3, 1> jacobian;

 ^

CMM_Digitizer_DH_v4:69:5: error: 'Matrix' does not name a type

 Matrix<maxLinks> deltaAngles;

 ^

CMM_Digitizer_DH_v4:70:5: error: 'Transformation' does not name a type

 Transformation currentPose, perturbedPose;

 ^

CMM_Digitizer_DH_v4:99:5: error: 'Transformation' does not name a type

 Transformation &ForwardKinematics(Transformation &pose)

 ^

CMM_Digitizer_DH_v4:113:5: error: 'Transformation' does not name a type

 Transformation ForwardKinematics()

 ^

C:\Users\PLC\Desktop\Scanner\scan1\CCM-Arm-master\5 DOF\CMM_Digitizer_DH_v4\CMM_Digitizer_DH_v4.ino: In function 'void loop()':

CMM_Digitizer_DH_v4:202:17: error: 'class KinematicChain<10>' has no member named 'ForwardKinematics'

double x1 = k.ForwardKinematics().p.X() + X_OFFSET;

             ^

CMM_Digitizer_DH_v4:203:17: error: 'class KinematicChain<10>' has no member named 'ForwardKinematics'

double y1 = k.ForwardKinematics().p.Y() + Y_OFFSET;

             ^

CMM_Digitizer_DH_v4:204:17: error: 'class KinematicChain<10>' has no member named 'ForwardKinematics'

double z1 = k.ForwardKinematics().p.Z() + Z_OFFSET;

             ^

CMM_Digitizer_DH_v4:207:17: error: 'class KinematicChain<10>' has no member named 'ForwardKinematics'

double x2 = k.ForwardKinematics().p.X() + X_OFFSET;

             ^

CMM_Digitizer_DH_v4:208:17: error: 'class KinematicChain<10>' has no member named 'ForwardKinematics'

double y2 = k.ForwardKinematics().p.Y() + Y_OFFSET;

             ^

CMM_Digitizer_DH_v4:209:17: error: 'class KinematicChain<10>' has no member named 'ForwardKinematics'

double z2 = k.ForwardKinematics().p.Z() + Z_OFFSET;

             ^

CMM_Digitizer_DH_v4:212:17: error: 'class KinematicChain<10>' has no member named 'ForwardKinematics'

double x3 = k.ForwardKinematics().p.X() + X_OFFSET;

             ^

CMM_Digitizer_DH_v4:213:17: error: 'class KinematicChain<10>' has no member named 'ForwardKinematics'

double y3 = k.ForwardKinematics().p.Y() + Y_OFFSET;

             ^

CMM_Digitizer_DH_v4:214:17: error: 'class KinematicChain<10>' has no member named 'ForwardKinematics'

double z3 = k.ForwardKinematics().p.Z() + Z_OFFSET;