Files in this directory contain the source for some basic utility routines,
which form the contents of the library ../lib/libC.a. Most of these
routines have very little to do with robotics per-se, which is why
they are placed in a separate directory. Many of them are general routines
that were developed at McGill.

atan2.c
	Implementation of atan2(), for vxWorks systems that don't have it.

binsearch.c
	General routines for implementing binary search.

copyof.c
	Routine for creating copies of strings.
	
cputime.c
	Routines for measuring the amount of CPU time that has been consumed
	by the process.

errorstr.c
	Routine to get the error string associated with a particular system
	error number.

fatal.c
	Routines to print out error condition messages and then exit the
	program with a particular code.

hash.c
	General routines for implementing hash tables.

heapsort.c
	General routines for implementing a heapsort.

nap.c
	A routine which puts the process to sleep, like sleep(), except that
	it takes a float for an argument and therefore sleep times of less
	than 1 second can be specified. nap() is implemented using the timeout
	features of select().

random.c
	Routines for creating random numbers within certain ranges.

read_timeout.c
	A version of read() that contains a timeout.

run.c
	A package of routines, implemented for vxWorks, that allow you to call
	a function from the vxWorks shell, and give it an argument list that
	is turned into an argc, argv vector before it is passed to the
	routine. The routines here also provide some support that makes
	it easy to 

signame.c
	Routines for finding the names associated with signal numbers.

snprintf.c
	A version of sprintf() that takes a maximum size argument for the
	string. Also, for MicroVAXen, an implementation of vprintf(),
	vfprintf(), and vsprintf().

SYS.h
syscall.h
syscalls.s
	For MicroVAX systems only, a set of site specific system calls.

testchar.c
	Routines to poll an input stream and see if there are any characters
	waiting to be read.

timeval.c
	Routines for doing general operations on objects of the 
	type struct timeval.

unixFxns.c
	Implements, for vxWorks, some routines normally available on UNIX.





