
SCHEME
   R3RS is the standard
   info: /export/src/master/xscheme022/doc
         man sci

EZD
   graphics is easy to use and nice
   can be called from SCHEME->C
   can be controlled by link from elsewhere
   but it can not handle bitmaps
   info: man ezd

BITMAPS
   can be created and saved easily with xfig
   they could be loaded and used by C as an obstacle map
   they can not be handled directly by SCHEME->C
   they can be handled by ELK graphics

SCHEME->C
   type sci to start
   can be compiled to C
   can then be called from unix (or a C program ?)
   can include C code to be compiled (I think), this would be
     handy for linking in the collision detector
   does not have OOPS?
   SCIX is written in SCEME->C
   info: /export/src/master/Scheme-to-C
         man sci
 
ELK
   uses graphics close to X basics
   can handle bitmaps
   has OOPS
   needs linking to collision detector written in C
   info: /export/src/master/elk-1.3

XSCHEME
   is OOP based
   has no graphics
   needs linking to collision detector written in C
   needs linking to graphics package
   info: /export/src/master/xscheme022/doc

DOODLE
   is for simple graphics output
   is not interactive

LINKING
   use unix pipes?
   use socket set?
