This directory contains source to the simple joint-level trajectory generator
CHASE. CHASE is a chasing-point trajectory generator -- you give the robot a
new target position and it tries to go there as fast as it can, subject to
known constraints on joint velocity, acceleration, and jerk. 

CHASE is used by some of the utility programs (move, free, pumacal), because
it is simple and is known to work fairly reliably.

chaseDrive.c
	The CHASE trajectory generator.

chaseTest*
chaseTest.c
	An interactive test program for CHASE.

chase.c
track.c
	Some programs used in the development of the chasing point trajectory
	generator.
