diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e025d905ad0b64e0cdf4d2a01c22da36b0b5bed6
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,15 @@
+PROJECT(Simox)
+
+cmake_minimum_required(VERSION 2.6)
+MESSAGE(STATUS "******************** Configuring Simox ************************")
+set (SIMOX_BUILD_DIRECTORY ${CMAKE_BINARY_DIR} CACHE STRING "Simox build directory")
+
+INCLUDE (config.cmake)
+
+
+MESSAGE(STATUS "\n** SETTING Simox target directory to: ${SIMOX_BUILD_DIRECTORY}")
+add_subdirectory(VirtualRobot)
+add_subdirectory(MotionPlanning)
+add_subdirectory(GraspPlanning)
+
+
diff --git a/CMakeModules/FindCoin3D.cmake b/CMakeModules/FindCoin3D.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..eca25776794f44268192c1a2b69ad9d3a6989ea4
--- /dev/null
+++ b/CMakeModules/FindCoin3D.cmake
@@ -0,0 +1,87 @@
+# - Find Coin3D (Open Inventor)
+# Coin3D is an implementation of the Open Inventor API.
+# It provides data structures and algorithms for 3D visualization
+# http://www.coin3d.org/
+#
+# This module defines the following variables
+# COIN3D_FOUND - system has Coin3D - Open Inventor
+# COIN3D_INCLUDE_DIRS - where the Inventor include directory can be found
+# COIN3D_LIBRARIES - Link to this to use Coin3D
+#
+
+#=============================================================================
+# Copyright 2008-2009 Kitware, Inc.
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of CMake, substitute the full
+# License text for the above reference.)
+
+IF (WIN32)
+ IF (CYGWIN)
+
+ FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h)
+ FIND_LIBRARY(COIN3D_LIBRARIES Coin)
+
+ ELSE (CYGWIN)
+
+ FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h
+ "[HKEY_LOCAL_MACHINE\\SOFTWARE\\SIM\\Coin3D\\2;Installation Path]/include"
+ )
+
+ FIND_LIBRARY(COIN3D_LIBRARY_DEBUG coin2d
+ "[HKEY_LOCAL_MACHINE\\SOFTWARE\\SIM\\Coin3D\\2;Installation Path]/lib"
+ )
+
+ FIND_LIBRARY(COIN3D_LIBRARY_RELEASE coin2
+ "[HKEY_LOCAL_MACHINE\\SOFTWARE\\SIM\\Coin3D\\2;Installation Path]/lib"
+ )
+
+ IF (COIN3D_LIBRARY_DEBUG AND COIN3D_LIBRARY_RELEASE)
+ SET(COIN3D_LIBRARIES optimized ${COIN3D_LIBRARY_RELEASE}
+ debug ${COIN3D_LIBRARY_DEBUG})
+ ELSE (COIN3D_LIBRARY_DEBUG AND COIN3D_LIBRARY_RELEASE)
+ IF (COIN3D_LIBRARY_DEBUG)
+ SET (COIN3D_LIBRARIES ${COIN3D_LIBRARY_DEBUG})
+ ENDIF (COIN3D_LIBRARY_DEBUG)
+ IF (COIN3D_LIBRARY_RELEASE)
+ SET (COIN3D_LIBRARIES ${COIN3D_LIBRARY_RELEASE})
+ ENDIF (COIN3D_LIBRARY_RELEASE)
+ ENDIF (COIN3D_LIBRARY_DEBUG AND COIN3D_LIBRARY_RELEASE)
+
+ ENDIF (CYGWIN)
+
+ELSE (WIN32)
+ IF(APPLE)
+ FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h
+ /Library/Frameworks/Inventor.framework/Headers
+ )
+ FIND_LIBRARY(COIN3D_LIBRARIES Coin
+ /Library/Frameworks/Inventor.framework/Libraries
+ )
+ SET(COIN3D_LIBRARIES "-framework Coin3d" CACHE STRING "Coin3D library for OSX")
+ ELSE(APPLE)
+
+ find_path( COIN3D_INCLUDE_DIRS NAMES Inventor/So.h PATHS $ENV{Coin3D_DIR}/include /usr/include /usr/local/include NO_DEFAULT_PATH )
+ find_library( COIN3D_LIBRARIES NAMES Coin PATHS $ENV{Coin3D_DIR}/lib /usr/lib /usr/local/lib NO_DEFAULT_PATH )
+#FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h $ENV{COIN3D_DIR}/include)
+#FIND_LIBRARY(COIN3D_LIBRARIES Coin $ENV{COIN3D_DIR}/lib)
+
+ ENDIF(APPLE)
+
+ENDIF (WIN32)
+
+# handle the QUIETLY and REQUIRED arguments and set COIN3D_FOUND to TRUE if
+# all listed variables are TRUE
+#INCLUDE("${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake")
+INCLUDE( FindPackageHandleStandardArgs )
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(Coin3D DEFAULT_MSG COIN3D_LIBRARIES COIN3D_INCLUDE_DIRS)
+
+MARK_AS_ADVANCED(COIN3D_INCLUDE_DIRS COIN3D_LIBRARIES )
+
+
diff --git a/CMakeModules/FindEigen3.cmake b/CMakeModules/FindEigen3.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..b5de7e8d866d963ca201ba85dcf766c739a8aa9e
--- /dev/null
+++ b/CMakeModules/FindEigen3.cmake
@@ -0,0 +1,86 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+# find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+# Eigen3_FOUND - system has eigen lib with correct version
+# Eigen3_INCLUDE_DIR - the eigen include directory
+# Eigen3_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Copyright (c) 2011 Manfred Kroehnert <Manfred.Kroehnert@kit.edu> "No all uppercase variable names"
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+ if(NOT Eigen3_FIND_VERSION_MAJOR)
+ set(Eigen3_FIND_VERSION_MAJOR 2)
+ endif(NOT Eigen3_FIND_VERSION_MAJOR)
+ if(NOT Eigen3_FIND_VERSION_MINOR)
+ set(Eigen3_FIND_VERSION_MINOR 91)
+ endif(NOT Eigen3_FIND_VERSION_MINOR)
+ if(NOT Eigen3_FIND_VERSION_PATCH)
+ set(Eigen3_FIND_VERSION_PATCH 0)
+ endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+ set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+ file(READ "${Eigen3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+ string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+ set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+ string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+ set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+ string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+ set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+ set(Eigen3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+ if(${Eigen3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+ set(Eigen3_VERSION_OK FALSE)
+ else(${Eigen3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+ set(Eigen3_VERSION_OK TRUE)
+ endif(${Eigen3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+ if(NOT Eigen3_VERSION_OK)
+
+ message(STATUS "Eigen3 version ${Eigen3_VERSION} found in ${Eigen3_INCLUDE_DIR}, "
+ "but at least version ${Eigen3_FIND_VERSION} is required")
+ endif(NOT Eigen3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (Eigen3_INCLUDE_DIR)
+
+ # in cache already
+ _eigen3_check_version()
+ set(Eigen3_FOUND ${Eigen3_VERSION_OK})
+
+else (Eigen3_INCLUDE_DIR)
+
+ find_path(Eigen3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+ PATHS
+ ${CMAKE_INSTALL_PREFIX}/include
+ ${KDE4_INCLUDE_DIR}
+ ${Eigen3_DIR}
+ $ENV{Eigen3_DIR}
+ /org/share/archive/SFB588_RefDist/eigen3/
+ PATH_SUFFIXES eigen3 eigen
+ )
+
+ if(Eigen3_INCLUDE_DIR)
+ _eigen3_check_version()
+ set(Eigen3_FOUND ${Eigen3_VERSION_OK})
+ endif(Eigen3_INCLUDE_DIR)
+
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(Eigen3 DEFAULT_MSG Eigen3_INCLUDE_DIR Eigen3_VERSION_OK)
+
+ mark_as_advanced(Eigen3_INCLUDE_DIR)
+
+endif(Eigen3_INCLUDE_DIR)
+
diff --git a/CMakeModules/FindRapidXML.cmake b/CMakeModules/FindRapidXML.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..507cedf63525f20a51ff637accc2ae09e0622f83
--- /dev/null
+++ b/CMakeModules/FindRapidXML.cmake
@@ -0,0 +1,25 @@
+# - Try to find RapidXML lib
+# Once done this will define
+#
+# RapidXML_FOUND - system has eigen lib
+# RapidXML_INCLUDE_DIR - the eigen include directory
+
+# Copyright (c) 2010, Manfred Kroehnert, <mkroehnert _at_ users _dot_ sourceforge _dot_ net>
+# Redistribution and use is allowed according to the terms of the BSD license.
+
+IF (RapidXML_INCLUDE_DIR)
+ SET(RapidXML_FOUND TRUE)
+ELSE (RapidXML_INCLUDE_DIR)
+ FIND_PATH(RapidXML_INCLUDE_DIR NAMES rapidxml.hpp
+ HINTS
+ ${INCLUDE_INSTALL_DIR}
+ ${KDE4_INCLUDE_DIR}
+ )
+
+ INCLUDE(FindPackageHandleStandardArgs)
+
+ FIND_PACKAGE_HANDLE_STANDARD_ARGS(RapidXML DEFAULT_MSG RapidXML_INCLUDE_DIR )
+
+ MARK_AS_ADVANCED(RapidXML_INCLUDE_DIR)
+ENDIF (RapidXML_INCLUDE_DIR)
+
diff --git a/CMakeModules/FindSoQt.cmake b/CMakeModules/FindSoQt.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..2c5ec6a1357f10cca086287ba943fe2c08718b41
--- /dev/null
+++ b/CMakeModules/FindSoQt.cmake
@@ -0,0 +1,65 @@
+# - Find SoQt (Open Inventor Qt Integration)
+# SoQt is an implementation of the Open Inventor API.
+# It provides data structures and algorithms for 3D visualization
+# http://www.coin3d.org/
+#
+# This module defines the following variables
+# SoQt_FOUND - system has SoQt - Open Inventor Qt Integration
+# SoQt_INCLUDE_DIRS - where the SoQt include directory can be found
+# SoQt_LIBRARIES - Link to this to use SoQt
+#
+
+
+IF (WIN32)
+ IF (CYGWIN)
+
+ FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h)
+ FIND_LIBRARY(SoQt_LIBRARIES SoQt)
+
+ ELSE (CYGWIN)
+ FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h "$ENV{COINDIR}/include")
+ FIND_LIBRARY(SoQt_LIBRARY_RELEASE soqt1 "$ENV{COINDIR}/lib")
+ FIND_LIBRARY(SoQt_LIBRARY_DEBUG soqt1d "$ENV{COINDIR}/lib")
+
+ IF (SoQt_LIBRARY_DEBUG AND SoQt_LIBRARY_RELEASE)
+ SET(SoQt_LIBRARIES optimized ${SoQt_LIBRARY_RELEASE}
+ debug ${SoQt_LIBRARY_DEBUG})
+ ELSE (SoQt_LIBRARY_DEBUG AND SoQt_LIBRARY_RELEASE)
+ IF (SoQt_LIBRARY_DEBUG)
+ SET (SoQt_LIBRARIES ${SoQt_LIBRARY_DEBUG})
+ ENDIF (SoQt_LIBRARY_DEBUG)
+ IF (SoQt_LIBRARY_RELEASE)
+ SET (SoQt_LIBRARIES ${SoQt_LIBRARY_RELEASE})
+ ENDIF (SoQt_LIBRARY_RELEASE)
+ ENDIF (SoQt_LIBRARY_DEBUG AND SoQt_LIBRARY_RELEASE)
+
+ ENDIF (CYGWIN)
+
+ELSE (WIN32)
+ IF(APPLE)
+ FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h
+ /Library/Frameworks/Inventor.framework/Headers
+ )
+ FIND_LIBRARY(SoQt_LIBRARIES SoQt
+ /Library/Frameworks/Inventor.framework/Libraries
+ )
+ SET(SoQt_LIBRARIES "-framework SoQt" CACHE STRING "SoQt library for OSX")
+ ELSE(APPLE)
+
+ FIND_PATH(SoQt_INCLUDE_DIRS NAMES Inventor/Qt/SoQt.h PATHS "$ENV{SoQt_DIR}/include" "$ENV{COIN3D_DIR}/include" /usr/include /usr/local/include NO_DEFAULT_PATH)
+ FIND_LIBRARY(SoQt_LIBRARIES NAMES SoQt PATHS "$ENV{SoQt_DIR}/lib" "$ENV{COIN3D_DIR}/lib" /usr/lib /usr/local/lib NO_DEFAULT_PATH)
+#FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h $ENV{SoQt_DIR}/include)
+#FIND_LIBRARY(SoQt_LIBRARIES SoQt $ENV{SoQt_DIR}/lib)
+
+ ENDIF(APPLE)
+
+ENDIF (WIN32)
+
+# handle the QUIETLY and REQUIRED arguments and set SoQt_FOUND to TRUE if
+# all listed variables are TRUE
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(SoQt DEFAULT_MSG SoQt_LIBRARIES SoQt_INCLUDE_DIRS)
+
+MARK_AS_ADVANCED(SoQt_INCLUDE_DIRS SoQt_LIBRARIES )
+
+
diff --git a/CMakeModules/SimoxProject.cmake b/CMakeModules/SimoxProject.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..31fc9069a8b50b1a4ddd221e696a2f48337d83ae
--- /dev/null
+++ b/CMakeModules/SimoxProject.cmake
@@ -0,0 +1,23 @@
+# Macros for Simox executables
+
+function(simox_add_executable PROJECT_NAME SOURCES HEADERS GUI_MOC_HDRS GUI_UIS)
+
+ LINK_DIRECTORIES(${SIMOX_LIB_DIR})
+
+ # QT stuff
+ qt4_wrap_cpp(SOURCES ${GUI_MOC_HDRS})
+ qt4_wrap_ui(UI_HEADER ${GUI_UIS})
+ get_filename_component(UI_HEADER_DIR ${UI_HEADER} PATH)
+ list(APPEND HEADERS ${UI_HEADER})
+ include_directories(${UI_HEADER_DIR})
+
+ # setup target
+ ADD_EXECUTABLE(${PROJECT_NAME} ${SOURCES} ${HEADERS})
+ SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${SIMOX_BIN_DIR})
+ TARGET_LINK_LIBRARIES(${PROJECT_NAME} VirtualRobot Saba GraspStudio ${QT_LIBRARIES} ${COIN3D_LIBRARIES} ${SoQt_LIBRARIES})
+ INCLUDE_DIRECTORIES(${SoQt_INCLUDE_DIRS})
+ INCLUDE(${QT_USE_FILE})
+ ADD_DEFINITIONS(-DSOQT_DLL)
+
+ MESSAGE( STATUS ${PROJECT_NAME} " will be placed into " ${SIMOX_BIN_DIR})
+endfunction()
diff --git a/SimoxProject.cmake b/SimoxProject.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..31fc9069a8b50b1a4ddd221e696a2f48337d83ae
--- /dev/null
+++ b/SimoxProject.cmake
@@ -0,0 +1,23 @@
+# Macros for Simox executables
+
+function(simox_add_executable PROJECT_NAME SOURCES HEADERS GUI_MOC_HDRS GUI_UIS)
+
+ LINK_DIRECTORIES(${SIMOX_LIB_DIR})
+
+ # QT stuff
+ qt4_wrap_cpp(SOURCES ${GUI_MOC_HDRS})
+ qt4_wrap_ui(UI_HEADER ${GUI_UIS})
+ get_filename_component(UI_HEADER_DIR ${UI_HEADER} PATH)
+ list(APPEND HEADERS ${UI_HEADER})
+ include_directories(${UI_HEADER_DIR})
+
+ # setup target
+ ADD_EXECUTABLE(${PROJECT_NAME} ${SOURCES} ${HEADERS})
+ SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${SIMOX_BIN_DIR})
+ TARGET_LINK_LIBRARIES(${PROJECT_NAME} VirtualRobot Saba GraspStudio ${QT_LIBRARIES} ${COIN3D_LIBRARIES} ${SoQt_LIBRARIES})
+ INCLUDE_DIRECTORIES(${SoQt_INCLUDE_DIRS})
+ INCLUDE(${QT_USE_FILE})
+ ADD_DEFINITIONS(-DSOQT_DLL)
+
+ MESSAGE( STATUS ${PROJECT_NAME} " will be placed into " ${SIMOX_BIN_DIR})
+endfunction()
diff --git a/config.cmake b/config.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..c5dfcccffc98f5c66970638e85b2a0af811832b1
--- /dev/null
+++ b/config.cmake
@@ -0,0 +1,136 @@
+
+IF (NOT SIMOX_CONFIGURED)
+
+ # defines SIMOX_CONFIGURED variable which indicates that this config file has already been included
+ SET(SIMOX_CONFIGURED TRUE)
+
+ # Set up for debug build
+ IF(NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE Debug CACHE STRING
+ "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
+ FORCE)
+ ENDIF(NOT CMAKE_BUILD_TYPE)
+
+ ############################# SETUP MODULES #############################
+ GET_FILENAME_COMPONENT (CurrentPath ${CMAKE_CURRENT_LIST_FILE} PATH)
+ #MESSAGE (STATUS "module path: " ${CurrentPath}/CMakeModules)
+ SET(CMAKE_MODULE_PATH ${CurrentPath}/CMakeModules)
+
+ #### Eigen
+ FIND_PACKAGE (Eigen3 REQUIRED)
+ if (Eigen3_FOUND)
+ INCLUDE_DIRECTORIES(${Eigen3_INCLUDE_DIR})
+ endif (Eigen3_FOUND)
+
+ #### BOOST
+ FIND_PACKAGE(Boost 1.42.0 COMPONENTS filesystem system unit_test_framework program_options REQUIRED)
+ if (Boost_FOUND)
+ MESSAGE (STATUS "Boost found at: ${Boost_INCLUDE_DIR}")
+ INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIR})
+ LINK_DIRECTORIES (${Boost_LIBRARY_DIRS})
+ # disable boost auto linking
+ add_definitions( -DBOOST_ALL_NO_LIB )
+ add_definitions( -DBOOST_PROGRAM_OPTIONS_DYN_LINK )
+ add_definitions( -DBOOST_FILESYSTEM_DYN_LINK )
+ add_definitions( -DBOOST_SYSTEM_DYN_LINK )
+ add_definitions( -DBOOST_UNIT_TEST_FRAMEWORK_DYN_LINK )
+ #add_definitions( -DBOOST_LIB_DIAGNOSTIC )
+ else (Boost_FOUND)
+ MESSAGE ("!! Could not find Boost !!")
+ endif (Boost_FOUND)
+
+ #### Coin3D (Qt and SoQt)
+ OPTION(SIMOX_USE_COIN_VISUALIZATION "Use Coin3D for visualization" ON)
+ if (SIMOX_USE_COIN_VISUALIZATION)
+ FIND_PACKAGE(Coin3D REQUIRED)
+ if (COIN3D_FOUND)
+ INCLUDE_DIRECTORIES(${COIN3D_INCLUDE_DIRS})
+ ADD_DEFINITIONS(-DCOIN_DLL)
+ endif (COIN3D_FOUND)
+
+ #### QT
+ # QT_QMAKE_EXECUTABLE is the only relieable way of setting the qt4 path!
+ # convert env var to cmake define
+ IF(NOT "$ENV{QT_QMAKE_EXECUTABLE}" STREQUAL "")
+ MESSAGE (STATUS "USING QT-PATH from environment variable QT_QMAKE_EXECUTABLE: $ENV{QT_QMAKE_EXECUTABLE}")
+ file(TO_CMAKE_PATH "$ENV{QT_QMAKE_EXECUTABLE}" QT_QMAKE_EXECUTABLE)
+ ENDIF()
+ FIND_PACKAGE(Qt4 4.6.0 COMPONENTS QtOpenGL QtCore QtGui)
+ if ( QT_FOUND )
+ MESSAGE (STATUS "Found Qt4: " ${QT_INCLUDE_DIR})
+ include(${QT_USE_FILE})
+ #MESSAGE(STATUS "QT_LIBRARIES: " ${QT_LIBRARIES})
+
+ #### SoQt
+ # This will set SoQt_INCLUDE_DIRS and SoQt_LIBRARIES
+ FIND_PACKAGE(SoQt)
+ if (SOQT_FOUND)
+ MESSAGE (STATUS "Found SoQt:" ${SoQt_INCLUDE_DIRS})
+ ADD_DEFINITIONS(-DSOQT_DLL)
+ else (SOQT_FOUND)
+ MESSAGE (STATUS "Did not found SoQt. Disabling SoQt support.")
+ endif (SOQT_FOUND)
+ else ( QT_FOUND )
+ MESSAGE (STATUS "Did not found Qt. Disabling Qt/SoQt support.")
+ endif ( QT_FOUND )
+ endif (SIMOX_USE_COIN_VISUALIZATION)
+
+ ############################# SETUP PATHS #############################
+ IF(DEFINED SIMOX_DIR)
+ get_filename_component(SIMOX_DIR ${SIMOX_DIR} ABSOLUTE)
+ ELSE()
+ SET(SIMOX_DIR ${CurrentPath})
+ ENDIF()
+ MESSAGE (STATUS "SIMOX_DIR: ${SIMOX_DIR}")
+
+ ADD_DEFINITIONS(-DSIMOX_BASE_DIR="${SIMOX_DIR}")
+
+ SET(BIN_DIR bin)
+ SET(LIB_DIR lib)
+
+ IF(DEFINED SIMOX_BUILD_DIRECTORY)
+ get_filename_component(SIMOX_BUILD_DIRECTORY ${SIMOX_BUILD_DIRECTORY} ABSOLUTE)
+ MESSAGE (STATUS "** SIMOX Build dir defined: ${SIMOX_BUILD_DIRECTORY}")
+ ELSE()
+ SET(SIMOX_BUILD_DIRECTORY ${CMAKE_BINARY_DIR})
+ MESSAGE (STATUS "** SIMOX Build dir not defined, using CMAKE_BINARY_DIR: ${SIMOX_BUILD_DIRECTORY}")
+ ENDIF()
+
+ SET(SIMOX_LIB_DIR ${SIMOX_BUILD_DIRECTORY}/${LIB_DIR})
+ SET(SIMOX_BIN_DIR ${SIMOX_BUILD_DIRECTORY}/${BIN_DIR})
+
+ MESSAGE (STATUS "** SIMOX LIB DIR: ${SIMOX_LIB_DIR}")
+ MESSAGE (STATUS "** SIMOX BIN DIR: ${SIMOX_BIN_DIR}")
+
+ SET(SIMOX_INSTALL_LIB_DIR ${CMAKE_INSTALL_PREFIX}/${LIB_DIR})
+ SET(SIMOX_INSTALL_BIN_DIR ${CMAKE_INSTALL_PREFIX}/${BIN_DIR})
+ SET(SIMOX_INSTALL_HEADER_DIR ${CMAKE_INSTALL_PREFIX}/include/)
+
+ ############################# Set OS specific options #############################
+ IF(UNIX)
+ # We are on Linux
+ IF(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
+ ADD_DEFINITIONS(-fPIC)
+ ENDIF(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
+
+ IF(${CMAKE_BUILD_TYPE} STREQUAL "Debug")
+ MESSAGE(STATUS "Configuring Debug build")
+ ADD_DEFINITIONS(-D_DEBUG) # -Wall -W -Werror -pedantic)
+ ELSE()
+ MESSAGE(STATUS "Configuring Release build")
+ ENDIF()
+ ELSE(UNIX)
+ # We are on Windows
+ ADD_DEFINITIONS(-D_CRT_SECURE_NO_WARNINGS)
+
+ # On MSVC we compile with /MP flag (use multiple threads)
+ IF(MSVC)
+ ADD_DEFINITIONS(/MP)
+ ENDIF(MSVC)
+ ENDIF(UNIX)
+
+
+ # Allow #include <VirtualRobot/*.h>
+ INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR} ${SIMOX_DIR})
+
+ENDIF(NOT SIMOX_CONFIGURED)
\ No newline at end of file
diff --git a/doc/Doxyfile b/doc/Doxyfile
new file mode 100644
index 0000000000000000000000000000000000000000..d11fc7bf9976b775de099ad9460e142ac51fb630
--- /dev/null
+++ b/doc/Doxyfile
@@ -0,0 +1,1808 @@
+# Doxyfile 1.7.5.1
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project
+#
+# All text after a hash (#) is considered a comment and will be ignored
+# The format is:
+# TAG = value [value, ...]
+# For lists items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ")
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# http://www.gnu.org/software/libiconv for the list of possible encodings.
+
+DOXYFILE_ENCODING = UTF-8
+
+# The PROJECT_NAME tag is a single word (or sequence of words) that should
+# identify the project. Note that if you do not use Doxywizard you need
+# to put quotes around the project name if it contains spaces.
+
+PROJECT_NAME = Simox
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER = 2.0
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer
+# a quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF =
+
+# With the PROJECT_LOGO tag one can specify an logo or icon that is
+# included in the documentation. The maximum height of the logo should not
+# exceed 55 pixels and the maximum width should not exceed 200 pixels.
+# Doxygen will copy the logo to the output directory.
+
+PROJECT_LOGO =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY = doxygen
+
+# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
+# 4096 sub-directories (in 2 levels) under the output directory of each output
+# format and will distribute the generated files over these directories.
+# Enabling this option can be useful when feeding doxygen a huge amount of
+# source files, where putting all generated files in the same directory would
+# otherwise cause performance problems for the file system.
+
+CREATE_SUBDIRS = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
+# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
+# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
+# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
+# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak,
+# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
+
+OUTPUT_LANGUAGE = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
+# include brief member descriptions after the members that are listed in
+# the file and class documentation (similar to JavaDoc).
+# Set to NO to disable this.
+
+BRIEF_MEMBER_DESC = YES
+
+# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
+# the brief description of a member or function before the detailed description.
+# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+
+REPEAT_BRIEF = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator
+# that is used to form the text in various listings. Each string
+# in this list, if found as the leading text of the brief description, will be
+# stripped from the text and the result after processing the whole list, is
+# used as the annotated text. Otherwise, the brief description is used as-is.
+# If left blank, the following values are used ("$name" is automatically
+# replaced with the name of the entity): "The $name class" "The $name widget"
+# "The $name file" "is" "provides" "specifies" "contains"
+# "represents" "a" "an" "the"
+
+ABBREVIATE_BRIEF = "The $name class" \
+ "The $name widget" \
+ "The $name file" \
+ is \
+ provides \
+ specifies \
+ contains \
+ represents \
+ a \
+ an \
+ the
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# Doxygen will generate a detailed section even if there is only a brief
+# description.
+
+ALWAYS_DETAILED_SEC = YES
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+
+INLINE_INHERITED_MEMB = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
+# path before files name in the file list and in the header files. If set
+# to NO the shortest path that makes the file name unique will be used.
+
+FULL_PATH_NAMES = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
+# can be used to strip a user-defined part of the path. Stripping is
+# only done if one of the specified strings matches the left-hand part of
+# the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the
+# path to strip.
+
+STRIP_FROM_PATH =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
+# the path mentioned in the documentation of a class, which tells
+# the reader which header file to include in order to use a class.
+# If left blank only the name of the header file containing the class
+# definition is used. Otherwise one should specify the include paths that
+# are normally passed to the compiler using the -I flag.
+
+STRIP_FROM_INC_PATH =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
+# (but less readable) file names. This can be useful if your file system
+# doesn't support long names like on DOS, Mac, or CD-ROM.
+
+SHORT_NAMES = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
+# will interpret the first line (until the first dot) of a JavaDoc-style
+# comment as the brief description. If set to NO, the JavaDoc
+# comments will behave just like regular Qt-style comments
+# (thus requiring an explicit @brief command for a brief description.)
+
+JAVADOC_AUTOBRIEF = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
+# interpret the first line (until the first dot) of a Qt-style
+# comment as the brief description. If set to NO, the comments
+# will behave just like regular Qt-style comments (thus requiring
+# an explicit \brief command for a brief description.)
+
+QT_AUTOBRIEF = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
+# treat a multi-line C++ special comment block (i.e. a block of //! or ///
+# comments) as a brief description. This used to be the default behaviour.
+# The new default is to treat a multi-line C++ comment block as a detailed
+# description. Set this tag to YES if you prefer the old behaviour instead.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
+# member inherits the documentation from any documented member that it
+# re-implements.
+
+INHERIT_DOCS = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
+# a new page for each member. If set to NO, the documentation of a member will
+# be part of the file/class/namespace that contains it.
+
+SEPARATE_MEMBER_PAGES = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab.
+# Doxygen uses this value to replace tabs by spaces in code fragments.
+
+TAB_SIZE = 16
+
+# This tag can be used to specify a number of aliases that acts
+# as commands in the documentation. An alias has the form "name=value".
+# For example adding "sideeffect=\par Side Effects:\n" will allow you to
+# put the command \sideeffect (or @sideeffect) in the documentation, which
+# will result in a user-defined paragraph with heading "Side Effects:".
+# You can put \n's in the value part of an alias to insert newlines.
+
+ALIASES =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
+# sources only. Doxygen will then generate output that is more tailored for C.
+# For instance, some of the names that are used will be different. The list
+# of all members will be omitted, etc.
+
+OPTIMIZE_OUTPUT_FOR_C = YES
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
+# sources only. Doxygen will then generate output that is more tailored for
+# Java. For instance, namespaces will be presented as packages, qualified
+# scopes will look different, etc.
+
+OPTIMIZE_OUTPUT_JAVA = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources only. Doxygen will then generate output that is more tailored for
+# Fortran.
+
+OPTIMIZE_FOR_FORTRAN = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for
+# VHDL.
+
+OPTIMIZE_OUTPUT_VHDL = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given extension.
+# Doxygen has a built-in mapping, but you can override or extend it using this
+# tag. The format is ext=language, where ext is a file extension, and language
+# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C,
+# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make
+# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C
+# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions
+# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen.
+
+EXTENSION_MAPPING =
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should
+# set this tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
+# func(std::string) {}). This also makes the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+
+BUILTIN_STL_SUPPORT = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+
+CPP_CLI_SUPPORT = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
+# Doxygen will parse them like normal C++ but will assume all classes use public
+# instead of private inheritance when no explicit protection keyword is present.
+
+SIP_SUPPORT = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate getter
+# and setter methods for a property. Setting this option to YES (the default)
+# will make doxygen replace the get and set methods by a property in the
+# documentation. This will only work if the methods are indeed getting or
+# setting a simple type. If this is not the case, or you want to show the
+# methods anyway, you should set this option to NO.
+
+IDL_PROPERTY_SUPPORT = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES, then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+
+DISTRIBUTE_GROUP_DOC = NO
+
+# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
+# the same type (for instance a group of public functions) to be put as a
+# subgroup of that type (e.g. under the Public Functions section). Set it to
+# NO to prevent subgrouping. Alternatively, this can be done per class using
+# the \nosubgrouping command.
+
+SUBGROUPING = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and
+# unions are shown inside the group in which they are included (e.g. using
+# @ingroup) instead of on a separate page (for HTML and Man pages) or
+# section (for LaTeX and RTF).
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and
+# unions with only public data fields will be shown inline in the documentation
+# of the scope in which they are defined (i.e. file, namespace, or group
+# documentation), provided this scope is documented. If set to NO (the default),
+# structs, classes, and unions are shown on a separate page (for HTML and Man
+# pages) or section (for LaTeX and RTF).
+
+INLINE_SIMPLE_STRUCTS = NO
+
+# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
+# is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically
+# be useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+
+TYPEDEF_HIDES_STRUCT = NO
+
+# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
+# determine which symbols to keep in memory and which to flush to disk.
+# When the cache is full, less often used symbols will be written to disk.
+# For small to medium size projects (<1000 input files) the default value is
+# probably good enough. For larger projects a too small cache size can cause
+# doxygen to be busy swapping symbols to and from disk most of the time
+# causing a significant performance penalty.
+# If the system has enough physical memory increasing the cache will improve the
+# performance by keeping more symbols in memory. Note that the value works on
+# a logarithmic scale so increasing the size by one will roughly double the
+# memory usage. The cache size is given by this formula:
+# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
+# corresponding to a cache size of 2^16 = 65536 symbols
+
+SYMBOL_CACHE_SIZE = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# documentation are documented, even if no documentation was available.
+# Private class members and static file members will be hidden unless
+# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
+
+EXTRACT_ALL = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
+# will be included in the documentation.
+
+EXTRACT_PRIVATE = NO
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file
+# will be included in the documentation.
+
+EXTRACT_STATIC = YES
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
+# defined locally in source files will be included in the documentation.
+# If set to NO only classes defined in header files are included.
+
+EXTRACT_LOCAL_CLASSES = YES
+
+# This flag is only useful for Objective-C code. When set to YES local
+# methods, which are defined in the implementation section but not in
+# the interface are included in the documentation.
+# If set to NO (the default) only methods in the interface are included.
+
+EXTRACT_LOCAL_METHODS = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base
+# name of the file that contains the anonymous namespace. By default
+# anonymous namespaces are hidden.
+
+EXTRACT_ANON_NSPACES = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
+# undocumented members of documented classes, files or namespaces.
+# If set to NO (the default) these members will be included in the
+# various overviews, but no documentation section is generated.
+# This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy.
+# If set to NO (the default) these classes will be included in the various
+# overviews. This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
+# friend (class|struct|union) declarations.
+# If set to NO (the default) these declarations will be included in the
+# documentation.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
+# documentation blocks found inside the body of a function.
+# If set to NO (the default) these blocks will be appended to the
+# function's detailed documentation block.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
+# file names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+
+CASE_SENSE_NAMES = NO
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put a list of the files that are included by a file in the documentation
+# of that file.
+
+SHOW_INCLUDE_FILES = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
+# will list include files with double quotes in the documentation
+# rather than with sharp brackets.
+
+FORCE_LOCAL_INCLUDES = NO
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
+# will sort the (detailed) documentation of file and class members
+# alphabetically by member name. If set to NO the members will appear in
+# declaration order.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
+# brief documentation of file, namespace and class members alphabetically
+# by member name. If set to NO (the default) the members will appear in
+# declaration order.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
+# will sort the (brief and detailed) documentation of class members so that
+# constructors and destructors are listed first. If set to NO (the default)
+# the constructors will appear in the respective orders defined by
+# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
+# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
+# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
+# hierarchy of group names into alphabetical order. If set to NO (the default)
+# the group names will appear in their defined order.
+
+SORT_GROUP_NAMES = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
+# sorted by fully-qualified names, including namespaces. If set to
+# NO (the default), the class list will be sorted only by class name,
+# not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the
+# alphabetical list.
+
+SORT_BY_SCOPE_NAME = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
+# do proper type resolution of all parameters of a function it will reject a
+# match between the prototype and the implementation of a member function even
+# if there is only one candidate or it is obvious which candidate to choose
+# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
+# will still accept a match between prototype and implementation in such cases.
+
+STRICT_PROTO_MATCHING = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or
+# disable (NO) the bug list. This list is created by putting \bug
+# commands in the documentation.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
+# disable (NO) the deprecated list. This list is created by putting
+# \deprecated commands in the documentation.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or macro consists of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and macros in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
+# at the bottom of the documentation of classes and structs. If set to YES the
+# list will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES = NO
+
+# If the sources in your project are distributed over multiple directories
+# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
+# in the documentation. The default is NO.
+
+SHOW_DIRECTORIES = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
+# This will remove the Files entry from the Quick Index and from the
+# Folder Tree View (if specified). The default is YES.
+
+SHOW_FILES = NO
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
+# Namespaces page. This will remove the Namespaces entry from the Quick Index
+# and from the Folder Tree View (if specified). The default is YES.
+
+SHOW_NAMESPACES = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command <command> <input-file>, where <command> is the value of
+# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
+# provided by doxygen. Whatever the program writes to standard output
+# is used as the file version. See the manual for examples.
+
+FILE_VERSION_FILTER =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. The create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option.
+# You can optionally specify a file name after the option, if omitted
+# DoxygenLayout.xml will be used as the name of the layout file.
+
+LAYOUT_FILE =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files
+# containing the references data. This must be a list of .bib files. The
+# .bib extension is automatically appended if omitted. Using this command
+# requires the bibtex tool to be installed. See also
+# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style
+# of the bibliography can be controlled using LATEX_BIB_STYLE.
+
+CITE_BIB_FILES =
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
+# automatically be disabled.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some
+# parameters in a documented function, or documenting parameters that
+# don't exist or using markup commands wrongly.
+
+WARN_IF_DOC_ERROR = YES
+
+# The WARN_NO_PARAMDOC option can be enabled to get warnings for
+# functions that are documented, but have no documentation for their parameters
+# or return value. If set to NO (the default) doxygen will only warn about
+# wrong or incomplete parameter documentation, but not about the absence of
+# documentation.
+
+WARN_NO_PARAMDOC = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that
+# doxygen can produce. The string should contain the $file, $line, and $text
+# tags, which will be replaced by the file and line number from which the
+# warning originated and the warning text. Optionally the format may contain
+# $version, which will be replaced by the version of the file (if it could
+# be obtained via FILE_VERSION_FILTER)
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that contain
+# documented source files. You may enter file names like "myfile.cpp" or
+# directories like "/usr/src/myproject". Separate the files or directories
+# with spaces.
+
+INPUT = .. \
+ ..\GraspPlanning \
+ ..\GraspPlanning\GraspPlanner \
+ ..\GraspPlanning\GraspQuality \
+ ..\GraspPlanning\Visualization \
+ ..\MotionPlanning \
+ ..\MotionPlanning\CSpace \
+ ..\MotionPlanning\Planner \
+ ..\MotionPlanning\PostProcessing \
+ ..\MotionPlanning\Visualization \
+ ..\VirtualRobot\CollisionDetection \
+ ..\VirtualRobot\CollisionDetection\PQP \
+ ..\VirtualRobot\CollisionDetection\Dummy \
+ ..\VirtualRobot\EndEffector \
+ ..\VirtualRobot\IK \
+ ..\VirtualRobot\Nodes \
+ ..\VirtualRobot\Transformation \
+ ..\VirtualRobot\Visualization \
+ ..\VirtualRobot
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
+# also the default input encoding. Doxygen uses libiconv (or the iconv built
+# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
+# the list of possible encodings.
+
+INPUT_ENCODING = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
+# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
+# *.f90 *.f *.for *.vhd *.vhdl
+
+FILE_PATTERNS = *.c \
+ *.cc \
+ *.cxx \
+ *.cpp \
+ *.c++ \
+ *.d \
+ *.java \
+ *.ii \
+ *.ixx \
+ *.ipp \
+ *.i++ \
+ *.inl \
+ *.h \
+ *.hh \
+ *.hxx \
+ *.hpp \
+ *.h++ \
+ *.idl \
+ *.odl \
+ *.cs \
+ *.php \
+ *.php3 \
+ *.inc \
+ *.m \
+ *.mm \
+ *.dox \
+ *.py \
+ *.f90 \
+ *.f \
+ *.vhd \
+ *.vhdl
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE = NO
+
+# The EXCLUDE tag can be used to specify files and/or directories that should
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+# Note that relative paths are relative to directory from which doxygen is run.
+
+EXCLUDE = ../VirtualRobot/CollisionDetection/C2A \
+ ../ExternalDependencies \
+ ../VirtualRobot/examples/SceneEditor
+
+# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories. Note that the wildcards are matched
+# against the file with absolute path, so to exclude all test directories
+# for example use the pattern */test/*
+
+EXCLUDE_PATTERNS =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+
+EXCLUDE_SYMBOLS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command <filter> <input-file>, where <filter>
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output. If FILTER_PATTERNS is specified, this tag will be
+# ignored.
+
+INPUT_FILTER =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form:
+# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
+# info on how filters are used. If FILTER_PATTERNS is empty or if
+# non of the patterns match the file name, INPUT_FILTER is applied.
+
+FILTER_PATTERNS =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+
+FILTER_SOURCE_FILES = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any)
+# and it is also possible to disable source filtering for a specific pattern
+# using *.ext= (so without naming a filter). This option only has effect when
+# FILTER_SOURCE_FILES is enabled.
+
+FILTER_SOURCE_PATTERNS =
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these sources.
+# Note: To get rid of all source code in the generated output, make sure also
+# VERBATIM_HEADERS is set to NO.
+
+SOURCE_BROWSER = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
+# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
+# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
+# link to the source code. Otherwise they will link to the documentation.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code
+# will point to the HTML generated by the htags(1) tool instead of doxygen
+# built-in source browser. The htags tool is part of GNU's global source
+# tagging system (see http://www.gnu.org/software/global/global.html). You
+# will need version 4.8.6 or higher.
+
+USE_HTAGS = NO
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX = YES
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header. Note that when using a custom header you are responsible
+# for the proper inclusion of any scripts and style sheets that doxygen
+# needs, which is dependent on the configuration options used.
+# It is adviced to generate a default header using "doxygen -w html
+# header.html footer.html stylesheet.css YourConfigFile" and then modify
+# that header. Note that the header is subject to change so you typically
+# have to redo this when upgrading to a newer version of doxygen or when
+# changing the value of configuration settings such as GENERATE_TREEVIEW!
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet. Note that doxygen will try to copy
+# the style sheet file to the HTML output directory, so don't put your own
+# stylesheet in the HTML output directory as well, or it will be erased!
+
+HTML_STYLESHEET =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that
+# the files will be copied as-is; there are no commands or markers available.
+
+HTML_EXTRA_FILES =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
+# Doxygen will adjust the colors in the stylesheet and background images
+# according to this color. Hue is specified as an angle on a colorwheel,
+# see http://en.wikipedia.org/wiki/Hue for more information.
+# For instance the value 0 represents red, 60 is yellow, 120 is green,
+# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
+# The allowed range is 0 to 359.
+
+HTML_COLORSTYLE_HUE = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
+# the colors in the HTML output. For a value of 0 the output will use
+# grayscales only. A value of 255 will produce the most vivid colors.
+
+HTML_COLORSTYLE_SAT = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
+# the luminance component of the colors in the HTML output. Values below
+# 100 gradually make the output lighter, whereas values above 100 make
+# the output darker. The value divided by 100 is the actual gamma applied,
+# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
+# and 100 does not change the gamma.
+
+HTML_COLORSTYLE_GAMMA = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting
+# this to NO can help when comparing the output of multiple runs.
+
+HTML_TIMESTAMP = YES
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded. For this to work a browser that supports
+# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
+# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
+
+HTML_DYNAMIC_SECTIONS = NO
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files
+# will be generated that can be used as input for Apple's Xcode 3
+# integrated development environment, introduced with OSX 10.5 (Leopard).
+# To create a documentation set, doxygen will generate a Makefile in the
+# HTML output directory. Running make will produce the docset in that
+# directory and running "make install" will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
+# it at startup.
+# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+
+GENERATE_DOCSET = NO
+
+# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
+# feed. A documentation feed provides an umbrella under which multiple
+# documentation sets from a single provider (such as a company or product suite)
+# can be grouped.
+
+DOCSET_FEEDNAME = "Doxygen generated docs"
+
+# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
+# should uniquely identify the documentation set bundle. This should be a
+# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
+# will append .docset to the name.
+
+DOCSET_BUNDLE_ID = org.doxygen.Project
+
+# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+
+DOCSET_PUBLISHER_ID = org.doxygen.Publisher
+
+# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
+
+DOCSET_PUBLISHER_NAME = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
+# be used to specify the file name of the resulting .chm file. You
+# can add a path in front of the file if the result should not be
+# written to the html output directory.
+
+CHM_FILE =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
+# be used to specify the location (absolute path including file name) of
+# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
+# the HTML help compiler on the generated index.hhp.
+
+HHC_LOCATION =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
+# controls if a separate .chi index file is generated (YES) or that
+# it should be included in the master .chm file (NO).
+
+GENERATE_CHI = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
+# is used to encode HtmlHelp index (hhk), content (hhc) and project file
+# content.
+
+CHM_INDEX_ENCODING =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
+# controls whether a binary table of contents is generated (YES) or a
+# normal table of contents (NO) in the .chm file.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the HTML help documentation and to the tree view.
+
+TOC_EXPAND = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated
+# that can be used as input for Qt's qhelpgenerator to generate a
+# Qt Compressed Help (.qch) of the generated HTML documentation.
+
+GENERATE_QHP = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
+# be used to specify the file name of the resulting .qch file.
+# The path specified is relative to the HTML output folder.
+
+QCH_FILE =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#namespace
+
+QHP_NAMESPACE = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#virtual-folders
+
+QHP_VIRTUAL_FOLDER = doc
+
+# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to
+# add. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#custom-filters
+
+QHP_CUST_FILTER_NAME =
+
+# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see
+# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">
+# Qt Help Project / Custom Filters</a>.
+
+QHP_CUST_FILTER_ATTRS =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's
+# filter section matches.
+# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">
+# Qt Help Project / Filter Attributes</a>.
+
+QHP_SECT_FILTER_ATTRS =
+
+# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
+# be used to specify the location of Qt's qhelpgenerator.
+# If non-empty doxygen will try to run qhelpgenerator on the generated
+# .qhp file.
+
+QHG_LOCATION =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
+# will be generated, which together with the HTML files, form an Eclipse help
+# plugin. To install this plugin and make it available under the help contents
+# menu in Eclipse, the contents of the directory containing the HTML and XML
+# files needs to be copied into the plugins directory of eclipse. The name of
+# the directory within the plugins directory should be the same as
+# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before
+# the help appears.
+
+GENERATE_ECLIPSEHELP = NO
+
+# A unique identifier for the eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have
+# this name.
+
+ECLIPSE_DOC_ID = org.doxygen.Project
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
+# top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it.
+
+DISABLE_INDEX = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values
+# (range [0,1..20]) that doxygen will group on one line in the generated HTML
+# documentation. Note that a value of 0 will completely suppress the enum
+# values from appearing in the overview section.
+
+ENUM_VALUES_PER_LINE = 4
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information.
+# If the tag value is set to YES, a side panel will be generated
+# containing a tree-like index structure (just like the one that
+# is generated for HTML Help). For this to work a browser that supports
+# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
+# Windows users are probably better off using the HTML help feature.
+
+GENERATE_TREEVIEW = YES
+
+# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories,
+# and Class Hierarchy pages using a tree view instead of an ordered list.
+
+USE_INLINE_TREES = NO
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH = 250
+
+# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open
+# links to external symbols imported via tag files in a separate window.
+
+EXT_LINKS_IN_WINDOW = NO
+
+# Use this tag to change the font size of Latex formulas included
+# as images in the HTML documentation. The default is 10. Note that
+# when you change the font size after a successful doxygen run you need
+# to manually remove any form_*.png images from the HTML output directory
+# to force them to be regenerated.
+
+FORMULA_FONTSIZE = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are
+# not supported properly for IE 6.0, but are supported on all modern browsers.
+# Note that when changing this option you need to delete any form_*.png files
+# in the HTML output before the changes have effect.
+
+FORMULA_TRANSPARENT = YES
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax
+# (see http://www.mathjax.org) which uses client side Javascript for the
+# rendering instead of using prerendered bitmaps. Use this if you do not
+# have LaTeX installed or if you want to formulas look prettier in the HTML
+# output. When enabled you also need to install MathJax separately and
+# configure the path to it using the MATHJAX_RELPATH option.
+
+USE_MATHJAX = NO
+
+# When MathJax is enabled you need to specify the location relative to the
+# HTML output directory using the MATHJAX_RELPATH option. The destination
+# directory should contain the MathJax.js script. For instance, if the mathjax
+# directory is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the
+# mathjax.org site, so you can quickly see the result without installing
+# MathJax, but it is strongly recommended to install a local copy of MathJax
+# before deployment.
+
+MATHJAX_RELPATH = http://www.mathjax.org/mathjax
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
+# names that should be enabled during MathJax rendering.
+
+MATHJAX_EXTENSIONS =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box
+# for the HTML output. The underlying search engine uses javascript
+# and DHTML and should work on any modern browser. Note that when using
+# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets
+# (GENERATE_DOCSET) there is already a search function so this one should
+# typically be disabled. For large projects the javascript based search engine
+# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
+
+SEARCHENGINE = NO
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a PHP enabled web server instead of at the web client
+# using Javascript. Doxygen will generate the search PHP script and index
+# file to put on the web server. The advantage of the server
+# based approach is that it scales better to large projects and allows
+# full text search. The disadvantages are that it is more difficult to setup
+# and does not have live searching capabilities.
+
+SERVER_BASED_SEARCH = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked. If left blank `latex' will be used as the default command name.
+# Note that when enabling USE_PDFLATEX this option is only used for
+# generating bitmaps for formulas in the HTML output, but not in the
+# Makefile that is written to the output directory.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
+# LaTeX documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE = a4wide
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for
+# the generated latex document. The footer should contain everything after
+# the last chapter. If it is left blank doxygen will generate a
+# standard footer. Notice: only use this tag if you know what you are doing!
+
+LATEX_FOOTER =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS = YES
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE = NO
+
+# If LATEX_HIDE_INDICES is set to YES then doxygen will not
+# include the index chapters (such as File Index, Compound Index, etc.)
+# in the output.
+
+LATEX_HIDE_INDICES = NO
+
+# If LATEX_SOURCE_CODE is set to YES then doxygen will include
+# source code with syntax highlighting in the LaTeX output.
+# Note that which sources are shown also depends on other settings
+# such as SOURCE_BROWSER.
+
+LATEX_SOURCE_CODE = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See
+# http://en.wikipedia.org/wiki/BibTeX for more info.
+
+LATEX_BIB_STYLE = plain
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
+# The RTF output is optimized for Word 97 and may not look very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
+# RTF documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will
+# generate an XML file that captures the structure of
+# the code including all documentation.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `xml' will be used as the default path.
+
+XML_OUTPUT = xml
+
+# The XML_SCHEMA tag can be used to specify an XML schema,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_SCHEMA =
+
+# The XML_DTD tag can be used to specify an XML DTD,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_DTD =
+
+# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
+# dump the program listings (including syntax highlighting
+# and cross-referencing information) to the XML output. Note that
+# enabling this will significantly increase the size of the XML output.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES Doxygen will
+# generate a Perl module file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
+# the necessary Makefile rules, Perl scripts and LaTeX code to be able
+# to generate PDF and DVI output from the Perl module output.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
+# nicely formatted so it can be parsed by a human reader. This is useful
+# if you want to understand what is going on. On the other hand, if this
+# tag is set to NO the size of the Perl module output will be much smaller
+# and Perl will parse it just the same.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file
+# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
+# This is useful so different doxyrules.make files included by the same
+# Makefile don't overwrite each other's variables.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_DEFINED tags.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# pointed to by INCLUDE_PATH will be searched when a #include is found.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed. To prevent a macro definition from being
+# undefined via #undef or recursively expanded use the := operator
+# instead of the = operator.
+
+PREDEFINED =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
+# this tag can be used to specify a list of macro names that should be expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition that
+# overrules the definition found in the source code.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all references to function-like macros
+# that are alone on a line, have an all uppercase name, and do not end with a
+# semicolon, because these will confuse the parser if not removed.
+
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES option can be used to specify one or more tagfiles.
+# Optionally an initial location of the external documentation
+# can be added for each tagfile. The format of a tag file without
+# this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where "loc1" and "loc2" can be relative or absolute paths or
+# URLs. If a location is present for each tag, the installdox tool
+# does not have to be run to correct the links.
+# Note that each tag file must have a unique name
+# (where the name does NOT include the path)
+# If a tag file is not located in the directory in which doxygen
+# is run, you must also specify the path to the tagfile here.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
+# or super classes. Setting the tag to NO turns the diagrams off. Note that
+# this option also works with HAVE_DOT disabled, but it is recommended to
+# install and use dot, since it yields more powerful graphs.
+
+CLASS_DIAGRAMS = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see
+# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH =
+
+# If set to YES, the inheritance and collaboration graphs will hide
+# inheritance and usage relations if the target is undocumented
+# or is not a class.
+
+HIDE_UNDOC_RELATIONS = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz, a graph visualization
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section
+# have no effect if this option is set to NO (the default)
+
+HAVE_DOT = NO
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is
+# allowed to run in parallel. When set to 0 (the default) doxygen will
+# base this on the number of processors available in the system. You can set it
+# explicitly to a value larger than 0 to get control over the balance
+# between CPU load and processing speed.
+
+DOT_NUM_THREADS = 0
+
+# By default doxygen will use the Helvetica font for all dot files that
+# doxygen generates. When you want a differently looking font you can specify
+# the font name using DOT_FONTNAME. You need to make sure dot is able to find
+# the font, which can be done by putting it in a standard location or by setting
+# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
+# directory containing the font.
+
+DOT_FONTNAME = FreeSans
+
+# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
+# The default size is 10pt.
+
+DOT_FONTSIZE = 10
+
+# By default doxygen will tell dot to use the Helvetica font.
+# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to
+# set the path where dot can find it.
+
+DOT_FONTPATH =
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect inheritance relations. Setting this tag to YES will force the
+# the CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH = YES
+
+# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for groups, showing the direct groups dependencies
+
+GROUP_GRAPHS = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+
+UML_LOOK = NO
+
+# If set to YES, the inheritance and collaboration graphs will show the
+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS = NO
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
+# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
+# documented header file showing the documented files that directly or
+# indirectly include this file.
+
+INCLUDED_BY_GRAPH = YES
+
+# If the CALL_GRAPH and HAVE_DOT options are set to YES then
+# doxygen will generate a call dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable call graphs
+# for selected functions only using the \callgraph command.
+
+CALL_GRAPH = NO
+
+# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
+# doxygen will generate a caller dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable caller
+# graphs for selected functions only using the \callergraph command.
+
+CALLER_GRAPH = NO
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
+# will generate a graphical hierarchy of all classes instead of a textual one.
+
+GRAPHICAL_HIERARCHY = YES
+
+# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
+# then doxygen will show the dependencies a directory has on other directories
+# in a graphical way. The dependency relations are determined by the #include
+# relations between the files in the directories.
+
+DIRECTORY_GRAPH = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. Possible values are svg, png, jpg, or gif.
+# If left blank png will be used. If you choose svg you need to set
+# HTML_FILE_EXTENSION to xhtml in order to make the SVG files
+# visible in IE 9+ (other browsers do not have this requirement).
+
+DOT_IMAGE_FORMAT = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+# Note that this requires a modern browser other than Internet Explorer.
+# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you
+# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files
+# visible. Older versions of IE do not have SVG support.
+
+INTERACTIVE_SVG = NO
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+
+DOT_PATH =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
+
+DOTFILE_DIRS =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the
+# \mscfile command).
+
+MSCFILE_DIRS =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
+# nodes that will be shown in the graph. If the number of nodes in a graph
+# becomes larger than this value, doxygen will truncate the graph, which is
+# visualized by representing a node as a red box. Note that doxygen if the
+# number of direct children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
+# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+
+DOT_GRAPH_MAX_NODES = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
+# graphs generated by dot. A depth value of 3 means that only nodes reachable
+# from the root by following a path via at most 3 edges will be shown. Nodes
+# that lay further from the root node will be omitted. Note that setting this
+# option to 1 or 2 may greatly reduce the computation time needed for large
+# code bases. Also note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+
+MAX_DOT_GRAPH_DEPTH = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not
+# seem to support this out of the box. Warning: Depending on the platform used,
+# enabling this option may lead to badly anti-aliased labels on the edges of
+# a graph (i.e. they become hard to read).
+
+DOT_TRANSPARENT = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10)
+# support this, this feature is disabled by default.
+
+DOT_MULTI_TARGETS = NO
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermediate dot files that are used to generate
+# the various graphs.
+
+DOT_CLEANUP = YES
diff --git a/doc/external_project_setup.txt b/doc/external_project_setup.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d67e5a0b78aa36c3e6307018af3b9c070eab807
--- /dev/null
+++ b/doc/external_project_setup.txt
@@ -0,0 +1,53 @@
+When you intend to use Simox with an external project, you can use the following CMakeLists.txt code:
+
+<---- snippet ----->
+
+PROJECT ( DemoProject )
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6.0)
+CMAKE_POLICY(VERSION 2.6)
+
+############################# SETUP PATHS TO Simox #############################
+GET_FILENAME_COMPONENT (CurrentPath ${CMAKE_CURRENT_LIST_FILE} PATH)
+
+# Either you set your environment variable or you edit the path here manually
+SET(SIMOX_DIR_STANDARD "$ENV{Simox_DIR}")
+
+# be sure to have the absolute path
+get_filename_component(SIMOX_DIR_STANDARD ${SIMOX_DIR_STANDARD} ABSOLUTE)
+
+SET (SIMOX_DIR ${SIMOX_DIR_STANDARD} CACHE STRING "Path to Simox used by ${PROJECT_NAME}")
+
+# where is the build directory located
+SET (SIMOX_BUILD_DIRECTORY ${SIMOX_DIR}/build CACHE STRING "Path to Simox build directory")
+
+# include simox settings (handles lib search)
+INCLUDE(${SIMOX_DIR}/config.cmake)
+INCLUDE(${SIMOX_DIR}/CMakeModules/SimoxProject.cmake)
+
+# Makes the demo directory available in your code
+SET(DEMO_BASE_DIR ${PROJECT_SOURCE_DIR})
+ADD_DEFINITIONS(-DDEMO_BASE_DIR="${DEMO_BASE_DIR}")
+
+IF(SIMOX_USE_COIN_VISUALIZATION)
+
+ # Adjust these lines according to your filenames
+ FILE(GLOB demo_SRCS ${PROJECT_SOURCE_DIR}/demoFile1.cpp ${PROJECT_SOURCE_DIR}/demoFile1.cpp)
+ FILE(GLOB demo_INCS ${PROJECT_SOURCE_DIR}/demoFile1.h)
+
+ # if you have a Qt-based project, you have to moc the QMainWindow class file
+ set(GUI_MOC_HDRS
+ ${PROJECT_SOURCE_DIR}/demoFile1.h
+ )
+
+ # When you are using QtDesigner to build the UI, you can specify all .ui files here
+ set(GUI_UIS
+ ${PROJECT_SOURCE_DIR}/demoGuiFile.ui
+ )
+
+ # pass file lists to simox cmake script: create the executable
+ simox_add_executable(${PROJECT_NAME} "${demo_SRCS}" "${demo_INCS}" "${GUI_MOC_HDRS}" "${GUI_UIS}")
+
+ENDIF(SIMOX_USE_COIN_VISUALIZATION)
+
+<---- snippet ----->
diff --git a/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFinger0.wrl b/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFinger0.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2428c7e68820cd5296ea1814d05ec8626d168bd9
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFinger0.wrl
@@ -0,0 +1,58 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+ type [ "EXAMINE", "ANY" ]
+}
+Transform {
+ scale 1 1 1
+ translation 0 0 0
+ children
+ [
+ Shape
+ {
+ geometry IndexedFaceSet
+ {
+ creaseAngle .5
+ solid FALSE
+ coord Coordinate
+ {
+ point
+ [
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+ ]
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diff --git a/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFinger1.wrl b/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFinger1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9a70d3cefcd607e19a0294a4b41b068addc55c18
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFinger1.wrl
@@ -0,0 +1,55 @@
+#VRML V2.0 utf8
+
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+
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+}
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diff --git a/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFinger2.wrl b/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFinger2.wrl
new file mode 100644
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--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFinger2.wrl
@@ -0,0 +1,57 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
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diff --git a/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFingerTip.wrl b/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFingerTip.wrl
new file mode 100644
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--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/col_LeftIndexFingerTip.wrl
@@ -0,0 +1,71 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+ type [ "EXAMINE", "ANY" ]
+}
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diff --git a/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFinger0.iv b/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFinger0.iv
new file mode 100644
index 0000000000000000000000000000000000000000..cf374a1851a0537a1c80cb2e95083349b2d83b29
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFinger0.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 0
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 0
+ }
+
+ Separator
+ {
+ File {name col_LeftIndexFinger0.wrl }
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFinger1.iv b/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFinger1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5ed6dbca2e8ef0cc2048eead969ad6da4c0d5be1
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFinger1.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 3.14
+ }
+
+ Separator
+ {
+ File {name col_LeftIndexFinger1.wrl }
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFinger2.iv b/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFinger2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ec7161b0436fec94ce5dd684de25d19ae5573047
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFinger2.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
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+
+ Transform {
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+ rotation 0 1 0 3.14
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 3.14
+ }
+
+ Separator
+ {
+ File {name col_LeftIndexFinger2.wrl }
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFingerTip.iv b/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFingerTip.iv
new file mode 100644
index 0000000000000000000000000000000000000000..0ea9816458b5861f3f41b854b698009e769f9935
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/col_leftIndexFingerTip.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 0
+ }
+
+ Separator
+ {
+ File {name col_LeftIndexFingerTip.wrl }
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFinger0.wrl b/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFinger0.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9a6d79d2a22f9ffe059166b0950f6aad34f10f2a
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFinger0.wrl
@@ -0,0 +1,1204 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+ type [ "EXAMINE", "ANY" ]
+}
+Transform {
+ scale 1 1 1
+ translation 0 0 0
+ children
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+ {
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diff --git a/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFinger1.wrl b/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFinger1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b3e371e52e484997b42fb8888e2db9c4bd77650f
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFinger1.wrl
@@ -0,0 +1,866 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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+ translation 0 0 0
+ children
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diff --git a/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFinger2.wrl b/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFinger2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ca6ca4c44c32371f31aaacbad5ac180b1fe88b87
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFinger2.wrl
@@ -0,0 +1,914 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
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+}
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diff --git a/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFingerTip_b.wrl b/doc/tutorial/iv/LeftIndexFinger/full_LeftIndexFingerTip_b.wrl
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index 0000000000000000000000000000000000000000..918d839b180fba58a05e9d613f1c432505371a7a
--- /dev/null
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@@ -0,0 +1,4042 @@
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+ 12978,12979,12980,-1, 12981,12982,12983,-1, 12984,12985,12986,-1, 12987,12988,12989,-1, 12990,12991,12992,-1, 12993,12994,12995,-1,
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+ 13032,13033,13034,-1, 13035,13036,13037,-1, 13038,13039,13040,-1, 13041,13042,13043,-1, 13044,13045,13046,-1, 13047,13048,13049,-1,
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+ 13086,13087,13088,-1, 13089,13090,13091,-1
+ ]
+ }
+ appearance Appearance
+ {
+ material Material
+ {
+ ambientIntensity 0.2
+ diffuseColor 0.9 0.9 0.9
+ specularColor .1 .1 .1
+ shininess .5
+ }
+ }
+ }
+ ]
+}
diff --git a/doc/tutorial/iv/LeftIndexFinger/leftIndexFinger0.iv b/doc/tutorial/iv/LeftIndexFinger/leftIndexFinger0.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2721084c65c44dc2baff0446cb3a5f4c2c06bd40
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/leftIndexFinger0.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 0
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 0
+ }
+
+ Separator
+ {
+ File {name full_LeftIndexFinger0.wrl }
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/LeftIndexFinger/leftIndexFinger1.iv b/doc/tutorial/iv/LeftIndexFinger/leftIndexFinger1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a84163b0f4fa52638f50b06b6fc5a07cac703846
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/leftIndexFinger1.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 3.14
+ }
+
+ Separator
+ {
+ File {name full_LeftIndexFinger1.wrl }
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/LeftIndexFinger/leftIndexFinger2.iv b/doc/tutorial/iv/LeftIndexFinger/leftIndexFinger2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..aea6213b165bd37ccd09bdf0cc35a30417b9f7c6
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/leftIndexFinger2.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 3.14
+ }
+
+ Separator
+ {
+ File {name full_LeftIndexFinger2.wrl }
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/LeftIndexFinger/leftIndexFingerTip.iv b/doc/tutorial/iv/LeftIndexFinger/leftIndexFingerTip.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b287bae2e1c3dceabe67433d8e5f35c266d363b0
--- /dev/null
+++ b/doc/tutorial/iv/LeftIndexFinger/leftIndexFingerTip.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 0
+ }
+
+ Separator
+ {
+ File {name full_LeftIndexFingerTip_b.wrl }
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/ball.iv b/doc/tutorial/iv/ball.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5abe52bb0d427ebd04a3a4b885549d8a613ff7d5
--- /dev/null
+++ b/doc/tutorial/iv/ball.iv
@@ -0,0 +1,8 @@
+#Inventor V2.0 ascii
+
+Separator {
+ Sphere {
+ radius 70
+
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/box.iv b/doc/tutorial/iv/box.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4417a3f5e485e78b8acb785cfa3a97819562e0ed
--- /dev/null
+++ b/doc/tutorial/iv/box.iv
@@ -0,0 +1,13 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Material {
+ diffuseColor 1 0.8 0.4
+ }
+ Cube
+ {
+ width 60
+ height 60
+ depth 60
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/joint.iv b/doc/tutorial/iv/joint.iv
new file mode 100644
index 0000000000000000000000000000000000000000..24267108504d064a6d2ce21efad0d8d374fe56bd
--- /dev/null
+++ b/doc/tutorial/iv/joint.iv
@@ -0,0 +1,12 @@
+#Inventor V2.0 ascii
+
+Separator {
+ Translation {
+ translation 0 250 0
+ }
+ Cylinder {
+ radius 40
+ height 500
+ parts (SIDES | TOP | BOTTOM)
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/iv/joint2.iv b/doc/tutorial/iv/joint2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3ce1da1972771e2e2db7f42f6a38842b998db97e
--- /dev/null
+++ b/doc/tutorial/iv/joint2.iv
@@ -0,0 +1,16 @@
+#Inventor V2.0 ascii
+
+Separator {
+
+ Rotation {
+ rotation 1 0 0 1.57
+ }
+ Translation {
+ translation 0 250 0
+ }
+ Cylinder {
+ radius 40
+ height 500
+ parts (SIDES | TOP | BOTTOM)
+ }
+}
\ No newline at end of file
diff --git a/doc/tutorial/robot_howto1.xml b/doc/tutorial/robot_howto1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..29a1f91bf8faed4ed0d55ebbaa3d81b0245538c9
--- /dev/null
+++ b/doc/tutorial/robot_howto1.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="DemoRobot" RootNode="root">
+
+ <RobotNode name="root">
+ </RobotNode>
+
+</Robot>
diff --git a/doc/tutorial/robot_howto10.xml b/doc/tutorial/robot_howto10.xml
new file mode 100644
index 0000000000000000000000000000000000000000..028fe791e1cc933a01d9511f8ae2bf798593bc64
--- /dev/null
+++ b/doc/tutorial/robot_howto10.xml
@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Scene name="Armar3Scene">
+
+ <Robot name="Armar3" initConfig="start">
+ <File>robots/ArmarIII/ArmarIII.xml</File>
+ <Configuration name="start">
+ <Node name="Shoulder 1 L" unit="radian" value="-0.85"/>
+ <Node name="Shoulder 2 L" unit="radian" value="-0.8"/>
+ <Node name="Upperarm L" unit="radian" value="-0.85"/>
+ <Node name="Shoulder 1 R" unit="radian" value="-0.85"/>
+ <Node name="Shoulder 2 R" unit="radian" value="0.8"/>
+ <Node name="Upperarm R" unit="radian" value="0.85"/>
+ </Configuration>
+ <GlobalPose>
+ <Transform>
+ <Translation x="1000" y="0" z="0"/>
+ </Transform>
+ </GlobalPose>
+ </Robot>
+
+ <Robot name="Armar3b">
+ <File>robots/ArmarIII/ArmarIII.xml</File>
+ </Robot>
+
+ <Obstacle name="Box">
+ <Visualization>
+ <File type="Inventor">objects/iv/box1000x500x300.iv</File>
+ <UseAsCollisionModel/>
+ </Visualization>
+ <GlobalPose>
+ <Transform>
+ <Translation x="0" y="1000" z="150"/>
+ <rollpitchyaw units="degree" roll="0" pitch="0" yaw="90"/>
+ </Transform>
+ </GlobalPose>
+ </Obstacle>
+
+ <ManipulationObject name="Plate">
+ <File>objects/plate.xml</File>
+
+ <GlobalPose>
+ <Transform>
+ <Translation x="500" y="800" z="800"/>
+ <rollpitchyaw units="degree" roll="0" pitch="0" yaw="90"/>
+ </Transform>
+ </GlobalPose>
+ </ManipulationObject>
+
+</Scene>
\ No newline at end of file
diff --git a/doc/tutorial/robot_howto2.xml b/doc/tutorial/robot_howto2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f83932cab913aa7ac5236e33cd27f2d329a834f9
--- /dev/null
+++ b/doc/tutorial/robot_howto2.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="DemoRobot" RootNode="root">
+
+ <RobotNode name="root">
+ <Visualization>
+ <File type="Inventor">iv/joint.iv</File>
+ </Visualization>
+ </RobotNode>
+
+</Robot>
diff --git a/doc/tutorial/robot_howto3.xml b/doc/tutorial/robot_howto3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..49bec834bec07596e4e4f8493790cb5f6d5bad9b
--- /dev/null
+++ b/doc/tutorial/robot_howto3.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="DemoRobot" RootNode="root">
+
+ <RobotNode name="root">
+ <Child name="joint 1"/>
+ </RobotNode>
+
+ <RobotNode name="joint 1">
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <PostJointTransform>
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ </PostJointTransform>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint.iv</File>
+ </Visualization>
+ </RobotNode>
+
+</Robot>
diff --git a/doc/tutorial/robot_howto4.xml b/doc/tutorial/robot_howto4.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fdff9f4b3db98173b4bb98fc7ce8fee40de9edc6
--- /dev/null
+++ b/doc/tutorial/robot_howto4.xml
@@ -0,0 +1,66 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="DemoRobot" RootNode="root">
+
+ <RobotNode name="root">
+ <Child name="joint 1"/>
+ </RobotNode>
+
+ <RobotNode name="joint 1">
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <PostJointTransform>
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ </PostJointTransform>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint.iv</File>
+ </Visualization>
+ <Child name="node 1"/>
+ </RobotNode>
+
+ <RobotNode name="node 1">
+ <Visualization>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ <Child name="joint 2"/>
+ </RobotNode>
+
+ <RobotNode name="joint 2">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ <PostJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="500"/>
+ </Transform>
+ </PostJointTransform>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint2.iv</File>
+ </Visualization>
+ <Child name="node 2"/>
+ </RobotNode>
+
+ <RobotNode name="node 2">
+ <Visualization>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ <Child name="joint 3"/>
+ </RobotNode>
+
+ <RobotNode name="joint 3">
+ <Joint type="revolute">
+ <Axis x="1" y="0" z="0"/>
+ <PostJointTransform>
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ </PostJointTransform>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint.iv</File>
+ </Visualization>
+ </RobotNode>
+</Robot>
diff --git a/doc/tutorial/robot_howto5.xml b/doc/tutorial/robot_howto5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8deb70f9b0ec46e2ce2715a8aa7804f4fafe5513
--- /dev/null
+++ b/doc/tutorial/robot_howto5.xml
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="DemoRobot" RootNode="root">
+
+ <RobotNode name="root">
+ <Child name="joint 1"/>
+ </RobotNode>
+
+ <RobotNode name="joint 1">
+ <Joint type="revolute">
+ <DH a="0" d="500" alpha="-90" theta="0" units="degree"/>
+ <Limits lo="0" hi="120" units="degree"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint2.iv</File>
+ </Visualization>
+ <Child name="node 1"/>
+ </RobotNode>
+
+ <RobotNode name="node 1">
+ <Visualization>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ <Child name="joint 2"/>
+ </RobotNode>
+
+ <RobotNode name="joint 2">
+ <Joint type="revolute">
+ <DH a="0" d="500" alpha="90" theta="0" units="degree"/>
+ <Limits lo="-45" hi="45" units="degree"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint2.iv</File>
+ </Visualization>
+ </RobotNode>
+
+</Robot>
diff --git a/doc/tutorial/robot_howto6.xml b/doc/tutorial/robot_howto6.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fe33801e3ccd3dc197b59523ff5f4b8b4071a656
--- /dev/null
+++ b/doc/tutorial/robot_howto6.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="DemoRobot" RootNode="root">
+
+ <RobotNode name="root">
+ <Child name="Finger Joint1"/>
+ </RobotNode>
+
+ <RobotNode name="Finger Joint1">
+ <Joint type="revolute">
+ <DH a="14.8" d="0" theta="0" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-25" hi="25"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger0.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger0.iv</File>
+ </CollisionModel>
+ <Child name="BaseToFinger"/>
+ </RobotNode>
+
+ <RobotNode name="BaseToFinger">
+ <Joint type="fixed">
+ <DH a="0" d="1.75" theta="0" alpha="0" units="degree"/>
+ </Joint>
+ <Child name="Finger Joint2"/>
+ </RobotNode>
+
+ <RobotNode name="Finger Joint2">
+ <Joint type="revolute">
+ <DH a="25.9" d="0" theta="0" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="0" hi="90"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger1.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger1.iv</File>
+ </CollisionModel>
+ <Child name="Finger Joint3"/>
+ </RobotNode>
+
+ <RobotNode name="Finger Joint3">
+ <Joint type="revolute">
+ <DH a="22" d="0" theta="0" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="0" hi="90"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger2.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger2.iv</File>
+ </CollisionModel>
+ <Child name="Finger Joint4"/>
+ </RobotNode>
+
+ <RobotNode name="Finger Joint4">
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="0" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="0" hi="90"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">iv/LeftIndexFinger/leftIndexFingerTip.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFingerTip.iv</File>
+ </CollisionModel>
+ </RobotNode>
+
+</Robot>
diff --git a/doc/tutorial/robot_howto7.xml b/doc/tutorial/robot_howto7.xml
new file mode 100644
index 0000000000000000000000000000000000000000..506a992d26425d6d9232a72fb8a908ca0f64bc6b
--- /dev/null
+++ b/doc/tutorial/robot_howto7.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="robot1" RootNode="Joint1">
+
+ <RobotNode name="Joint1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="-90" hi="45"/>
+ <DH a="0" d="500" theta="-30" alpha="0" units="degree"/>
+ </Joint>
+ <!-- Imports the kinematic structure form otherRobot.xml and adds otherRobot's rootnode as a child to this node -->
+ <ChildFromRobot>
+ <File importEEF="true">robot_howto7b.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+</Robot>
diff --git a/doc/tutorial/robot_howto7b.xml b/doc/tutorial/robot_howto7b.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b354c4b3d95f1cd825c2deb704a93b50b8cb97d5
--- /dev/null
+++ b/doc/tutorial/robot_howto7b.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="robot2" RootNode="node1">
+
+ <RobotNode name="node1">
+ <Child name="node2"/>
+ <Child name="node3"/>
+ </RobotNode>
+
+ <RobotNode name="node2">
+ <Joint>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP1"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="node3">
+ <Joint>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="-500" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP2"/>
+ </Visualization>
+ </RobotNode>
+</Robot>
diff --git a/doc/tutorial/robot_howto8.xml b/doc/tutorial/robot_howto8.xml
new file mode 100644
index 0000000000000000000000000000000000000000..be96e9b755d431366b431286c563336e4385d3e0
--- /dev/null
+++ b/doc/tutorial/robot_howto8.xml
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="DemoRobot" RootNode="root">
+
+ <RobotNode name="root">
+ <Child name="joint 1"/>
+ </RobotNode>
+
+ <RobotNode name="joint 1">
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <PostJointTransform>
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ </PostJointTransform>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint.iv</File>
+ </Visualization>
+ <Child name="node 1"/>
+ </RobotNode>
+
+ <RobotNode name="node 1">
+ <Visualization>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ <Child name="joint 2"/>
+ </RobotNode>
+
+ <RobotNode name="joint 2">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ <PostJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="500"/>
+ </Transform>
+ </PostJointTransform>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint2.iv</File>
+ </Visualization>
+ <Child name="node 2"/>
+ </RobotNode>
+
+ <RobotNode name="node 2">
+ <Visualization>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ <Child name="joint 3"/>
+ </RobotNode>
+
+ <RobotNode name="joint 3">
+ <Joint type="revolute">
+ <Axis x="1" y="0" z="0"/>
+ <PostJointTransform>
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ </PostJointTransform>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint.iv</File>
+ </Visualization>
+ <Child name="tcp"/>
+ </RobotNode>
+
+ <RobotNode name="tcp">
+ <Visualization>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNodeSet name="my kinematic chain" kinematicRoot="joint1" tcp="tcp">
+ <Node name="joint1"/>
+ <Node name="joint2"/>
+ <Node name="joint3"/>
+ </RobotNodeSet>
+
+</Robot>
diff --git a/license.txt b/license.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4362b49151d7b34ef83b3067a8f9c9f877d72a0e
--- /dev/null
+++ b/license.txt
@@ -0,0 +1,502 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 2.1, February 1999
+
+ Copyright (C) 1991, 1999 Free Software Foundation, Inc.
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+[This is the first released version of the Lesser GPL. It also counts
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+ the version number 2.1.]
+
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+ <signature of Ty Coon>, 1 April 1990
+ Ty Coon, President of Vice
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+That's all there is to it!
diff --git a/readme.txt b/readme.txt
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+Simox
+-----
+
+The aim of the lightweight platform independent C++ toolbox Simox is to provide a set of
+algorithms for 3D simulation of robot systems, sampling based motion planning and grasp
+planning. Simox consists of three libraries (Virtual Robot, Saba and Grasp Studio) and nu-
+merous examples showing how these libraries can be used to build complex tools in the
+context of mobile manipulation. The library Virtual Robot can be used to define complex
+robot systems, which may cover multiple robots with many degrees of freedom. The robot
+structure and its visualization can be easily defined via XML files and environments with
+obstacles and objects to manipulate are supported. Further, basic robot simulation compo-
+nents, as Jacobian computations and generic Inverse Kinematics (IK) solvers, are offered by
+the library. Beyond that, extended features like tools for analyzing the reachable workspace
+for robotic manipulators or contact determination for grasping are included.
+With Saba, a library for planning collision-free motions is offered, which directly incorporates
+with the data provided by Virtual Robot. The algorithms cover state-of-the-art implementa-
+tions of sampling-based motion planning approaches (e.g. Rapidly-exploring Random Trees)
+and interfaces that allow to conveniently implement own planners. Since Saba was designed
+for planning in high-dimensional configuration spaces, complex planning problems for robots
+with a high number of degrees of freedom (DoF) can be solved efficiently.
+Grasp Studio offers possibilities to compute the grasp quality for generic end-effector defini-
+tions, e.g. a humanoid hand. The implemented 6D wrench-space computations can be used
+to easily (and quickly) determine the quality of an applied grasp to an object. Furthermore,
+the implemented planners are able to generate grasp maps for given objects automatically.
+Since complex frameworks have to incorporate with several libraries in order to provide full
+functionality, several issues may arise when setting up the environment, such as dependency
+problems, incompatible library versions or even non-existing ports of needed libraries for the
+used operating systems. Hence, only a limited set of libraries are used by the Simox core in
+order to make it compile. Extended functionality (e.g. visualization) can be turned off in
+order to allow Simox compiling on most platforms. Further dependencies are encapsulated
+with interfaces, making it easy to exchange e.g. the collision engine or the visualization
+functionality. As a reference implementation Simox offers Coin3D/SoQt-based visualization
+support.
+
+License
+-------
+GNU GPL 2 (see license.txt)
+
+Copyright
+---------
+ 2011 Nikolaus Vahrenkamp
+
+Contact
+-------
+Nikolaus Vahrenkamp
+vahrenkamp at users dot sf dot net
+http://wwwiaim.ira.uka.de/users/vahrenka
+http://simox.sourceforge.net
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