1 Introduction
 1.1 Description
 1.2 Requirements
 1.3 Compiling
  1.3.1 Linux
  1.3.2 MS Windows
  1.3.3 Mac OSX
  1.3.4 QNX
 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
  2.3.1 Robot and mRobot object initialization
  2.3.2 Kinematics
  2.3.3 Dynamics
  2.3.4 Linearized dynamics
 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
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