The files in this directory define routines for doing computations
on data types which are commonly used in robotic applications, such
as transformations, vectors, quaternions, etc.

copyTrsf.c
	Copy all or a sub-portion of a TRSF structure.

diff.c
	Computational primitives for the DIFF and FORCE data types.

drive.c
	Computational primitives for the DRIVE data type.

dspl.c
	Computational primitives for the DSPL data type.

multTrsf.c
	Multiplication routines for the TRSF data type.

printTrsf.c
	Print routines for the TRSF data type.

quaternion.c
	Computational primitives for the QTRN data type.

rciPrintObj.c
	Object print routines that can be called from the RCI control level.

tmtest.c
	Program to test the transform multiplication routines.

trsf.c
	More support routines for the TRSF data type.

trsfToVel.c
	Routines to convert between a TRSF data type and a small displacement
	vector.

vect.c
	Computational primitives for the VECT data type.

