This folder contains progams that manipulate
Stewart Platform with Fixed Actuators (SPFA)
manipulator.


The first version, somewhat inexperienced,
used for some old applications. Contains 
C++ classes that handle SPFA
	SPFAmod.cpp
	SPFAmod.h


Version as of June 1, 1999. 
Contains C++ classes that handle SPFA. 
Similar to SPFAmod.*, uses TNT matrix framework 
and has more elegant code.
	SPFA.h
	SPFA.cpp

Interface that every manipulator model
should have (i.e.  Stewart Platform, SCARA
Gentry...).
	ManipulatorModel.h