Motion Control Stack
====================

This stack contains components for joint and cartesian space motion
control.


History and Acknowledgement
---------------------------

The oldest components in this motion_control stack were developed
almost 10 years ago (as of 2012) by Klaas Gadeyne and Wim Meussen
(according to in-line comments). After the Orocos OCL library was
reduced to contain only infrastructure during the RTTv2 transition,
this code was adopted under the name motion_control and ported to
RTT-v2 by and Markus Klotzbuecher and Ruben Smits.

This work is/has been supported by the following projects:

* European FP7 projects:

    - Rosetta: FP7-230902, Robot control for skilled execution of
      tasks in natural interaction with humans; based on autonomy,
      cumulative knowledge and learning

    - BRICS: FP7-231940, Best practices in robotics

* KU Leuven
    - KU Leuven’s Concerted Research Action GOA/2005/010 and GOA/2010/011  
    - KU Leuven-BOF PFV/10/002 Center-of-Excellence Optimization in Engineering (OPTEC),