--------------------------------------------------------------------
 Spacelib is supplied in a ZIP file.
 To install it Unzip it using  -d option to restore the path names
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Information on the last patches at the end of this file
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What is SPACELIB©?
SPACELIB is a software library useful 
for the realization of programs for the kinematic and dynamic 
analysis of systems of rigid bodies. 
This library is currently used in ROBOTICS and BIOMECHANICS. 
It has been developed at the Mechanical Engineering Department 
of the University of Brescia.

Three versions of the library are currently available:

	* c language (numerical computation)
	* MATLAB     (numerical computation)
	* MAPLEV     (symbolic manipulation)


The library is offered with:

	* full source code
	* a full reference manual
	* commented application examples
	* papers describing the mathematic theory which 
          is at the base of spacelib

The functions contained in the library are devoted to:

* basis operations on matrices 
    sum, product, (pseudo)inversion, ...
* basic operation on points, lines and planes
    line between two points
    plane defined by three points
    intersection / projection of point, lines on planes
    ...
* basic operation on vectors
    module, dot product, cross product, ...
* transformation matrices (rototranslations)
* velocity and acceleration matrices
* Cardan/Euler angles
    transformation of angles to/from rotation matrices
    derivative of angles to/from angular velocity and acceleration
* linear systems

The library is intended as an aid in writing programs for the 
analysis of systems of rigid bodies following a particular 
methodology based on 4×4 matrices. This approach can be 
considered a powerful generalization of the Transformation 
Matrix Approach  proposed by Denavit and Hartenberg.
Shortly the position and the orientation of each body is 
represented by 4×4 transformation matrices.
Two others matrices called W and H are utilized for the velocity 
and the acceleration (linear and angular).
Additional matrices are used for the momentum, forces, torques, 
inertia.

The main feature of this methodology is that it allows the 
development of the analysis of systems of rigid bodies in a 
systematic way simplifying the symbolic manipulation of equations 
as well as the realization of efficient numerical programs.

----------------------------------------------------------------
The file listfile.txt contained in the zip file lists 
of all the files of the library, of the examples and of the 
documentation. 
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The library is free available for non-profit activities including 
scientific and educational purposes.
See also the "disclaimer warranties" statement in the manual.

For commercial activities please contact:
Giovanni Legnani
Università degli Studi di Brescia
Dipartimento di Ingegneria Meccanica ed Industriale
Via Branze 38
25123 Brescia, Italy.

phone +39/030 3715425
fax   +39/030 3702448

e-mail: giovanni.legnani @ unibs.it

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patch February 2006

fixed bugs in macros:

Wtocard(m,W,q1,q2,qp1,qp2)
Wtoeul(m,W,q1,q2,qp1,qp2)     
Wtonaut(m,W,q1,q2,qp1,qp2)

Htocard(m,W,H,q1,q2,qp1,qp2)
Htoeul(m,W,H,q1,q2,qp1,qp2)     
Htonaut(m,W,H,q1,q2,qp1,qp2)
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patch November 2005

new manual in PDF restyled and improved

minor bugs fixed
manual improved and extended
few new functions added (dhtomstd, psedot, crosstom, translat, translat2, translat24)
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patch January 2003 (function interslpl)
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patch November 2001 (function pseudo_inv)