These Matlab functions are used to implement an interface between the
UPenn Sony Aibo robots and an external Matlab process.  First you
should compile tcpopen for your Matlab platform with:
  mex -O tcpopen.c

The resulting Mex function allows you to open a connection to a TCP
server, and returns a Matlab file identifier that can be used with
fread, fwrite.

All the routines communicate with the OPEN-R objects via TCPGateway on
the dog with the RecvArray.m and SendArray.m functions.  The UPenn code
uses a common array structure in all the objects, and these functions
allow Matlab to translate the OPEN-R arrays.

You should modify the initialization routine InitRobots.m with
the hostnames of your robots.

As an example:
  x = YUVRead; image(x);
should read and display a 144x176x3 RGB array from the camera of the
first hostname listed in the initialization file.

These routines were tested under Linux Matlab Release 11.1, and under
Mac OS X Matlab Release 12.1.
