
This directory contains basic facilites for matrices, vectors,
rotations, poses, and the like.  The main ideas were syntactic
concisenss via c operator syntax, and speed.

mat.hh
mat-defs.hh
mat.cc

This facility for small matrices and vectors.  It is intended for
small items.  The sizes are known at compile time.  See mat.doc
for some more info.

rmat.hh
rmat.cc

This is for matrices whose size is fixed at run time.  Intended
for medium size items.   This is somewhat hooked up to the 
numerical recipes in C code for some utilities.  See rmat.doc
for some more info.

NOTE:  the rmat code has not been tested very much!!

Conversions exist between mat and rmat.  NB: while syntactically
similar, there is a basic semantic difference between the mat and rmat
facilities: storage of items is shared with rmat, but not with rmat.




quaternion.hh,cc
	basic quaternion class.  Mainly for representing 3d rotations.


pose.hh
pose.cc
	define a class of 3d poses comprising 3 vectors and quaternions.



Applications:

hack-pose
	interactively increments a pose and sends the results
	to standard out.

gen-pose
	generate a bunch of poses by randomly perturbing a given pose

pose-stats
	do simple statistics on a bunch of poses
