Contents
1 Introduction
 1.1 Description
 1.2 Requirements
 1.3 Compiling
 1.4 Copyright
 1.5 Version history
 1.6 Files in the distribution
 1.7 Doxygen documentation
2 Reference manual
 2.1 3D homogeneous transforms
 2.2 The Quaternion class
 2.3 The Robot and mRobot classes
 2.4 The Spl_Cubic class
 2.5 The Spl_path class
 2.6 The Spl_Quaternion class
 2.7 The Trajectory_Select class
 2.8 The CLIK class
 2.9 The Proportional_Derivative class
 2.10 The Computed_torque_method class
 2.11 The Resolve_acc class
 2.12 The Impedance class
 2.13 The Control_Select class
 2.14 The Stewart class
 2.15 The IO_matrix_file class
 2.16 Graphics
 2.17 Config class
 2.18 Miscellaneous
 2.19 Summary of functions
3 Reporting bugs, contributions and comments
 3.1 Reporting bugs
 3.2 Making a contribution to the package
 3.3 Citing the package
4 Credits and acknowledgments
5 Future developments
Bibliography
A Recursive Newton-Euler algorithms, DH notation
 A.1 Recursive Newton-Euler formulation
 A.2 Recursive linearized Newton-Euler formulation
B Recursive Newton-Euler algorithms, modified DH notation
 B.1 Recursive Newton-Euler formulation
 B.2 Recursive linearized Newton-Euler formulation
C GNU Lesser General Public License