This is the readme.txt file
===========================

ROBOOP -- A robotics object oriented package in C++
Copyright (C) 1996, 1997  Richard Gourdeau

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Library General Public
License as published by the Free Software Foundation; either
version 2 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Library General Public License for more details.

You should have received a copy of the GNU Library General Public
License along with this library (GNUlgpl.txt); if not, write to the
Free Software Foundation, Inc., 675 Mass Ave, Cambridge,
MA 02139, USA.

Report problems and direct all questions to:

Richard Gourdeau
Professeur Agrg
Departement de mathematiques et de genie industriel
Ecole Polytechnique de Montreal
C.P. 6079, Succ. Centre-Ville
Montreal, Quebec, H3C 3A7

email: richard.gourdeau@polymtl.ca


DESCRIPTION
===========

This package (ROBOOP is a C++ robotics object oriented programming toolbox 
suitable for synthesis, and simulation of robotic manipulator models in an 
environment that provides "MATLAB like" features for the treatment of 
matrices. Its is a portable tool that does not require the use of commercial 
software. A class named Robot provides the implementation of the kinematics, 
the dynamics and the linearized dynamics of serial robotic manipulators.


WHERE CAN GET THIS PACKAGE
==========================

Program source and documentation are available from the URL: 
        http://www.ind2.polymtl.ca/ROBOOP


DOCUMENTATION
=============

The documentation is provided in postscript format:
        docs/robot.ps

Documentation in html format is available from the URL: 
        http://www.ind2.polymtl.ca/ROBOOP


VERSION
=======

This version 1.09 of the package:

RCS revisions of the source code is as follows:

Id: bench.cpp,v 1.8 1998-05-10 21:08:36-04
Id: comp_dq.cpp,v 1.6 1998-05-10 21:08:37-04
Id: comp_dqp.cpp,v 1.6 1998-05-10 21:08:38-04
Id: delta_t.cpp,v 1.6 1998-05-10 21:08:38-04
Id: demo.cpp,v 1.11 1998/09/20 14:06:05
Id: dynamics.cpp,v 1.7 1998-05-10 21:08:39-04
Id: gnugraph.cpp,v 1.10 1998/09/20 14:44:54 
Id: homogen.cpp,v 1.5 1998-05-31 23:20:55-04
Id: kinemat.cpp,v 1.7 1998-05-10 21:08:41-04
Id: robot.cpp,v 1.7 1998-05-12 22:29:23-04
Id: sensitiv.cpp,v 1.4 1998-05-10 21:08:42-04
Id: utils.cpp,v 1.6 1998-05-10 21:08:43-04
Id: robot.h,v 1.10 1998-05-12 22:29:24-04

See the documentation for the version history.
