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

DIRECTORIES

Motion
------
Code that governs low-level queueing of effector commands, gait 
generation, inverse kinematics, and other motion-related things.

perl-5.8.0
----------
Mostly the standard distribution of the Perl programming language 
(version 5.8.0), with a few changes/additions to support integration with 
the OPEN-R API.

SensorComm
----------
Vision--color classification, blob formation, line recognition,
object recognition and rangefinding.

WorldModel
----------
Estimation of dog/ball's position/orientation/velocity.

FILES

AnyArray.h
----------

FakeSysCalls.c
--------------
Defines system calls that Perl requires but are not provided by OPEN-R.  

Handler.cc
----------
Defines methods that are called in response to OPEN-R message-passing events.

LibRoutines.h
LibRoutines.cc
--------------
Library routines that are called by the high-level (behavioral) 
scripting language.

Makefile
--------
The makefile for the RobotComm object. 

PerlOOWrapper.h
PerlOOWrapper.cc
----------------
Object-oriented wrapper class to manage Perl interpreter.

RobotComm.h
RobotComm.cc
------------
Defines RobotComm class, contains initialization routines.

robotComm.ocf
-------------
OCF file for RobotComm object.

stub.cfg
--------
Defines OPEN-R subjects and observers for message-passing.

Util.cc
-------
Contains some message handlers and miscellaneous routines.



