Files in the distribution

readme	txt	readme file
makefile	gcc	make file for GNU G++
makefile	gw32	make file for Cygwin (Win32)
makefile	bc5	make file for Borland C++ 4.5, 5.x (Win32)
makefile	vcpp	make file for Visual C++ 5.0 and 6.0(Win32)
roboop	dsw	workspace for Visual C++ 6.0 (Win32)
bench	dsp	project file used by roboop.dsw
demo	dsp	project file used by roboop.dsw
demo_2dof_pd	dsp	project file used by roboop.dsw
newmat	dsp	project file used by roboop.dsw
roboop	dsp	project file used by roboop.dsw
rtest	dsp	project file used by roboop.dsw
roboop	sln	solution for Visual C++ 7.0 (Win32)
bench	vcproj	project file used by roboop.sln
demo	vcproj	project file used by roboop.sln
demo_2dof_pd	vcproj	project file used by roboop.sln
newmat	vcproj	project file used by roboop.sln
roboop	vcproj	project file used by roboop.sln
rtest	vcproj	project file used by roboop.sln
roboop	wpj	project file for OpenWatcom C++ 1.2 IDE (Win32)
bench	tgt	target file used by roboop.wpj
demo	tgt	target file used by roboop.wpj
demo_2dof_pd	tgt	target file used by roboop.wpj
newmat	tgt	target file used by roboop.wpj
roboop	tgt	target file used by roboop.wpj
rtest	tgt	target file used by roboop.wpj
demo	txt	output of the demo program
newmat		directory of the matrix library NEWMAT11
		see the file nm11.htm
docs		documentation directory
gnugpl	txt	GNU General Public License
gnulgpl	txt	GNU Lesser General Public License
robot	ps	documentation in postscript format
robot	pdf	documentation in PDF format
doxy		Doxygen documentation directory
roboop_doxygen		Doxygen configuration file

source		the ROBOOP program source directory
robot	h	header file
clik	h	header file for CLIK
config	h	header file for configuration class
controller	h	header file for controllers
control_select	h	header file for Control_Select class
dynamics_sim	h	header file for Dynamics class
gnugraph	h	header file for the graphics
quaternion	h	header file for the quaternions
trajectory	h	header file for the splines
utils	h	header file utility functions
bench	cpp	benchmark program file
clik	cpp	closed loop inverse kinematics CLIK
comp_dq	cpp	simplified version of delta_t with no dqp and dqpp
comp_dqp	cpp	simplified version of delta_t with no dq and dqpp
config	cpp	configuration class members functions
controller	cpp	some controllers functions
control_select	cpp	controller selection functions
delta_t	cpp	compute torque variation w/r to dq, dqp and dqpp
demo	cpp	demo program file
demo_2dof_pd	cpp	demo program file
dynamics	cpp	dynamics functions
dynamics_sim	cpp	simulation dynamics functions
gnugraph	cpp	graphics functions
homogen	cpp	homogeneous transform functions
impedance	cpp	impedance controller
invkine	cpp	inverse kinematics functions
kinemat	cpp	kinematics functions
quaternion	cpp	quaternions functions
robot	cpp	constructors and other stuff
rtest	cpp	testing program file
test	txt	testing data file
sensitiv	cpp	partial derivatives of robot dynamics
trajectory	cpp	translation and rotation splines
utils	cpp	miscellaneous

conf		configuration files directory
pd_2dof	conf	PD controller parameters for the 2 dof robot
puma560_dh	conf	PUMA robot parameters standard D-H
puma560_mdh	conf	PUMA robot parameters modified D-H
q_2dod	dat	desired trajectory for the 2 dof robot
rhino560_dh	conf	RHINO robot parameters standard D-H
rhino560_mdh	conf	RHINO robot parameters modified D-H
rr_dh	conf	2 dof robot parameters standard D-H