This file describes the setup of the planner files.  
Last updated by Robert Kindel 3-21-98

The source code is divided up into a number of different files to
allow easier modularity.  Each of these is described below.

collision.c collision.h
These implement the low level collision detection routines.

densarray.c densarray.h 
These implement the array for binning the workspace and provides a
number of commands for interacting with the density array (which it
provides as an abstract data type)

mytrig.c mytrig.h
These implement a cached sin and cos functionality to speed up
computation of the acceleration vectors when an integer number of
directions is all that is desired.

spline.c spline.h
These implement the splining functions and provide a spline abstract
data type for the planner to use.

structs.c structs.h
These provide a number of different structures that are used by the
other files.  It also provides a large number of routines for
accessing and manipulating these structures.  At this point it might
want to be broken up into two files.

planner.c
This is the main planner and contains all the logical planning
routines as well as a number of routines for manipulating pathlists.
It has grown somewhat out of control (and out of its original well
defined scope) and should probably have some of its functionality
moved to other (or a new) file. 

The makefile is set up for our system in the ARL and may not work
elsewhere.  The planner is compiled for solaris using 'gmake'
There is a linux makefile in the directory as well 'makefile.linux'

The compiled planner can be executed by typing 'planner' or
$target/planner (if the symbolic link is not intact).  It takes an
input file called world.txt (see format in planner.c) and can output
the trajectory as spline segments or as t,x,y.  Most of the time this
is all invisible, as the gui is used.

*.tcl
These files are all part of the gui, and by rights should be in their
own directory.  The first line of gui must point to your local version
of wish (or wishx) in order to run.  Other than that it should be
highly system independent.