The files in this directory implement the robot ``data base'' part of the RCI
robot support code.

defaultRobot.c
	Contains the function getDefaultRobot(), which looks in the file
	conf/defaultRobot to find the name of the system default robot
	(useful if the system has one robot, or one which is used most
	frequently).

gen_convert.c
	The generic conversion functions angleToEncoder(), encoderToAngle(),
	etc., which map between the motor shaft and joint level for a robot.
	Will work for any robot defined by JLS, but are slow.

getRobotData.c
	The functions find_robot(), and the routines get_jls(), get_jls(),
	and get_var(). The last three access functions work by calling 
	robot-type-specific routines defined in the directory for that type
	of robot.

jointDescStr.c
	Utility routine to create a string describing a set of joint angles,
	given a bit mask as input.

makejls*
makejls.c
	Program to create a binary .JLS file from an ascii .jls file.

matrix.c
matrix.h
	Matrix inversion routines used by 'makejls'.

robotComfxns.c
	Routine to search the per-robot-type table "robotComfxns" and
	return the robot interface functions defined there.

robotConfig.c
	Definition table "robotComfxns" which contains pointers to the
	interface functions for different classes of robot.

robotData.h
	Definitions of the table records used by the access functions
	get_jls(), get_kyn() and get_var().

robotDataTab.c
	Per-robot table "robotDataTable" which defines the name, type,
	and access functions for each robot.

robotInit.c
	Routines used by RCI to initialize the HOW and CHG structures.

robotPosition.c
	Code to implement the simple robot position ``database'' defined
	by the routine getRobotPosition().

