A list of the files contained in this directory along with brief 
descriptions follows:

EffectorComm.h
EffectorComm.cc
---------------
Provides a simplified interface to the OPEN-R effector control system.

Motion.h
Motion.cc
---------
Class that keeps state for motion-related methods.

PointHead.cc
------------
Performs inverse kinematics for head.

WalkERS7.h
------------
ERS-7-specific parameters for walk engine.  

WalkLegs.cc
-----------
Inverse kinematics and foot path generation for trot gait.
