The basic set of h files for the RCCL/RCI system.

IOdevice.h 
	Definition of the RCI I/O device structure.

allocMem.h
	Defintions for the RCI allocMem() package.

assignMem.h
	Macros to help ensure address alignment when allocating memory
	objects from an unstructured pool.

buddyAlloc.h
	Definitions for the buddy allocator code. The buddy allocator is used
	by the RCI message passing facility and by the RCI object package.
 
callv.h
	Defs for the 'callv()' routine, which allows you to specify a vector
	of arguments with which a routine is later called. This routine
	is currently used only by the program 'arc'.
	
cdefs.h
	Some basic defs used by just about every C file in the system. Defines
	things like MAX(), genptr, ARRAY_SIZE(), etc.

chase.h
	Defs and data structures used by the chasing-point trajectory
	generator chase, located in the directory ../chase.

cputime.h
	Enumerated type defs for using the function cputime(), located in
	locallib/ . This function is only used inside UNIX programs that
	do timing.

ctree.h
	Definitons for using the Ctree-matcher, which is an command completion
	keyboard menu package, the code for which lives in libCtree/

drjDevice.h
	Definitions for the DRV11-J RCI device driver.

errorCodes.h
	Basic error code numbers for the RCCL/RCI system.
	
errorStack.h
	Defs for the 'error stack' package.

fastmath.h
	Macro definitions for the fast trig routines contained in the
	directory fastmath/.

malloc.h
	Used by some of Mike Parker's code in localib/, localbin/, and
	libCtree/.
	
maxjnts.h
	A very important file that defines the maximum number of joints 
	per robot for various RCI data structures. 

memDevice.h
	Definitions for the 'mem' RCI device driver in drivers/.

moper_com.h
	Command and data formats for communicating between the 'moper'
	program the controls the PUMA robots and the robot communication
	functions defined in puma/puma_comfxns.c.

mutex.h
	Defines a mutual exclusion flag that is used for implementing mutex
	operations. In particular, these mutex operations do not require
	hardware test and set. Instead, a simplied version of Decker's
	algorithm was used (simplified becuase it gives implicit priority to
	processors).

namesize.h
	Defines the maximum name size of various string labels used by
	some RCI facilities.

oldfxns.h
	A header file that contains macro defs for a bunch of old RCCL
	functions, so that the recent flood of name changes will not bother
	people who do not want to deal with the new names.

pendant.h
	Definitions for the teach pendant buttons. This file should probably
	be redefined; right now it is pretty much based on the PUMA controller
	teach pendant.

pioDevice.h
	Definitions for the 'pio' RCI device driver located in drivers/.

priDevice.h
	Definitions for the 'pri' RCI device driver located in drivers/.

puma_jls.h
	Definition of joint level stiff specific to the PUMA robot.

puma_kynvar.h
	Definition of the KYN and VAR structures for the PUMA robots.

rccl.h
	Composite include file for RCCL programs.

rcclDefs.h
	Main set of RCCL defintions, including the MANIP structure.

rcclHand.h
	Some macros for openning and closing robot hands.

rci.h
	Composite include file for RCI programs.

rciConfig.h
	Site dependent RCI parameter defintions, such as the number of
	auxiliary CPUs, the size of the per-CPU shared memory pool, etc.
	This file is created automatically at system generation time by
	the program localbin/makeRciConfig.

rciMacros.h
	Some macros for obtaining information from the RCI task
	descriptor, such as pointers to the task control block and the robot
	descriptor.

rciMessage.h
	Definitions for the RCI message passing routines.

rciMonitor.h
	All this contains now is the release codes passed to RCI
	release functions.

rciOptions.h
	Definitions of the RCI options. We have one option defined at the time
	of this writing ... wonderful.

rciParameters.h
	Definitions for the RCI parameter package. Defines the types of
	parameters that may exist (string, float, etc.).

rciTask.h
	Main defintion file for RCI. Includes defs for the task descriptor,
	the task control block, and mucho more.

robot.h
	A composite include file that defines the various robot structures
	without any of the RCI robot control stuff.

robotClass.h
	Defines the different types of robots known to the RCI system.

robotComfxns.h
	Defines a data structure used to store pointers to the robot
	communication functions.

robotControl.h
	The defintions of the HOW structure and the CHG macros.

robotMath.h
	Some useful math definitions for doing robot work, like PI.

robotTypes.h
	Defintions of all those robot related data structures like
	TRSF (homogeneous transform), VECT (spatial three vector),
	QTRN (quaterniuon), etc., plus external defs for the functions that
	manipulate them.

robot_jls.h
	Definition of the JLS data structure.

simDevice.h
	Defs for the 'sim' robot simulation driver contained in drivers/.

timeval.h
	Defs for a package of functions defined in locallib/timeval.c
	that perform basic arithmetic operations on 'struct timeval' 
	objects

vector.h
	External function defs for the vector package (copyVf() and
	the like).

vemDevice.h
	Definitions for the device driver "vem", in ../drivers.

xydDevice.h
	Definitions for the device driver "xyd", in ../drivers.


