RiSE Simulation Library
==================================================================
 Created and maintained by 
    Clark Haynes <gch@cs.cmu.edu>
	Jonathan Clark <clarkj@stanford.edu>
	Uluc Saranli <ulucs+rhexlib@cs.cmu.edu>

 The latest version of this environment can be obtained through the
private cvs repository on geeveegie.msl.ri.cmu.edu. 

 # cvs -d user@geeveegie.msl.ri.cmu.edu:/home/rhex/cvsroot co RoboDevel/Libraries/SimLib

 This library is based on the Arachi Dynamic Simulation engine
http://www.arachi.com/

- Compiling SimLib:  ----------------------------------------------

  In order to compile SimLib, you will need to set the environment
variables SIMLIB_DIR, LIBUTILS_DIR and ARACHI_DIR to appropriate
values. The first variable indicates the location of the root SimLib
directory, whereas the second one indicates the location of the
RHexLib utilities library. Finally, the last variable points to the
location of the Arachi engine. For a version freshly checked out from
the repository, the following example settings should work:

  setenv SIMLIB_DIR ~/RoboDevel/Libraries/SimLib
  setenv LIBUTILS_DIR ~/RoboDevel/Libraries/RHexLib/libutils
  setenv ARACHI_DIR ~/RoboDevel/Libraries/arachi
  setenv DMV_DIR ~/RoboDevel/Libraries/DoubMatVec

 Note that the Arachi library is not available from CVS as it is a
commercial package. You should install the version you purchased under
RoboDevel/Libraries/arachi.

 Currently only libpcm contains some preliminary development code. If
you have defined the above environment variables, you can compile the
source with the following commands:

 cd ~/RoboDevel/Libraries/SimLib/src/libpcm
 make
 make test

 The second make will produce a test executable PCMParser, which tests
some preliminary features of the library.