diff --git a/.gitignore b/.gitignore
index be835df264044c9239116cbf3f4e205028ca57cb..a68b6678d8914ef2dea949a8f6564e4b7b31b4b0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,3 +4,4 @@ index-all.html
work
*~
+*/work*
diff --git a/Makefile b/Makefile
index 9ad4aaff1656c48b13cd9f4a672b6d7fa2a3c567..f818c1d569efe1f59b0b66c3cda0ac97be702492 100644
--- a/Makefile
+++ b/Makefile
@@ -9,6 +9,7 @@ SUBDIR+= gest-genom
SUBDIR+= kukaFri-libs
SUBDIR+= libfreenect
SUBDIR+= lwr-genom
+SUBDIR+= mana-emergency
SUBDIR+= mhp-genom
SUBDIR+= mk
SUBDIR+= morse-pocolibs
@@ -23,5 +24,12 @@ SUBDIR+= flann
SUBDIR+= jafar-kernel
SUBDIR+= jafar-lgl
SUBDIR+= jafar-rednav
+SUBDIR+= rednav-genom
+SUBDIR+= jafar-jmath
+SUBDIR+= jafar-image
+SUBDIR+= jafar-correl
+SUBDIR+= jafar-qdisplay
+SUBDIR+= jafar-gdhe
+SUBDIR+= jafar-rtslam
include ../mk/robotpkg.subdir.mk
diff --git a/TODO b/TODO
new file mode 100644
index 0000000000000000000000000000000000000000..cb82ef4acf24891fba55480ec03becb4b1030a5d
--- /dev/null
+++ b/TODO
@@ -0,0 +1,32 @@
+A list of suggested todo items, sorted by priority.
+New entries normally go to the end; earlier entries have higher priority.
+
+Suggested package updates
+=========================
+
+ o middleware/openni-1.3.2.1
+ o
+
+
+Suggested new packages
+======================
+
+ o modeling/pcl-1.1
+
+
+Suggested ready to import packages
+==================================
+
+ o
+
+
+Suggested package fixes
+=======================
+
+ o
+
+
+Suggested infrastructure improvements
+=====================================
+
+ o
diff --git a/jafar-correl/DESCR b/jafar-correl/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..e37dd015264f2cb97c1133f9247d9e4d6d2951d8
--- /dev/null
+++ b/jafar-correl/DESCR
@@ -0,0 +1 @@
+Jafar module with image correlation functions
diff --git a/jafar-correl/Makefile b/jafar-correl/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..6e6f52940b8bccf346d5741431c096faaac3d3ab
--- /dev/null
+++ b/jafar-correl/Makefile
@@ -0,0 +1,28 @@
+PKGVERSION= 0.1
+DISTNAME= jafar-correl-0.1
+PKGNAME= jafar-correl-0.1
+CATEGORIES= wip
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-correl/}
+MAINTAINER= jafar@laas.fr
+HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
+COMMENT= Jafar module with image correlation functions
+LICENSE= isc
+
+USE_LANGUAGES+= c c++ fortran
+USE_PKGLOCALEDIR= yes
+
+CPPFLAGS += -DJFR_NDEBUG
+CXXFLAGS += -pthread
+
+CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
+CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
+
+include ../../wip/jafar-kernel/depend.mk
+include ../../wip/jafar-image/depend.mk
+include ../../wip/jafar-jmath/depend.mk
+include ../../image/opencv/depend.mk
+
+include ../../pkgtools/libtool/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
diff --git a/jafar-correl/PLIST b/jafar-correl/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..245987aeacd170c1f8cab4500e0b240af8fc32c1
--- /dev/null
+++ b/jafar-correl/PLIST
@@ -0,0 +1,13 @@
+@comment Wed Jun 15 20:01:32 CEST 2011
+include/jafar/correl/correlException.hpp
+include/jafar/correl/explorer.hpp
+include/jafar/correl/explorer.hpp~
+include/jafar/correl/zncc.hpp
+include/jafar/correl/zncc.hpp~
+lib/libjafar-correl.so
+lib/libjafar-correl.so.${PKGVERSION}
+lib/libjafar-correl.so.0
+lib/pkgconfig/jafar-correl.pc
+share/cmake/jafar/correl-headers.cmake
+share/cmake/jafar/correl-release.cmake
+share/cmake/jafar/correl.cmake
diff --git a/jafar-correl/depend.mk b/jafar-correl/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..2d37e7675ba1611f4103515426b6698e4d086a83
--- /dev/null
+++ b/jafar-correl/depend.mk
@@ -0,0 +1,23 @@
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+jafar-correl_DEPEND_MK:= ${jafar-correl_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= jafar-correl
+endif
+
+ifeq (+,$(jafar-correl_DEPEND_MK)) # -----------------------------------------------
+
+PREFER.jafar-correl?= robotpkg
+
+DEPEND_USE+= jafar-correl
+DEPEND_ABI.jafar-correl?= jafar-correl>=0.1
+DEPEND_DIR.jafar-correl?= ../../wip/jafar-correl
+
+SYSTEM_SEARCH.jafar-correl=\
+ include/jafar/correl/correlException.hpp \
+ lib/libjafar-correl.so
+
+endif # jafar-correl_DEPEND_MK ----------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/jafar-correl/distinfo b/jafar-correl/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..ac38d67baaa38a31c460e4df5d15093c6521ea8c
--- /dev/null
+++ b/jafar-correl/distinfo
@@ -0,0 +1,3 @@
+SHA1 (jafar-correl-0.1.tar.gz) = 47070004fc509129816893a9c47d18294857f5fa
+RMD160 (jafar-correl-0.1.tar.gz) = 7d633eac7bde96cab0bfee5cd66fabef8b862918
+Size (jafar-correl-0.1.tar.gz) = 46470 bytes
diff --git a/jafar-gdhe/DESCR b/jafar-gdhe/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..3dd1b124d176d4e3f2f8057372144701db8b18ae
--- /dev/null
+++ b/jafar-gdhe/DESCR
@@ -0,0 +1 @@
+Jafar module to talk to a gdhe server in c++
diff --git a/jafar-gdhe/Makefile b/jafar-gdhe/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..4b424c990a679beeb42b8c14c30e366770be42ef
--- /dev/null
+++ b/jafar-gdhe/Makefile
@@ -0,0 +1,34 @@
+PKGVERSION= 0.1
+DISTNAME= jafar-gdhe-0.1
+PKGNAME= jafar-gdhe-0.1
+CATEGORIES= wip
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-gdhe/}
+MAINTAINER= jafar@laas.fr
+HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
+COMMENT= Jafar module to talk to a gdhe server in c++
+LICENSE= isc
+
+USE_LANGUAGES+= c c++ fortran
+USE_PKGLOCALEDIR= yes
+
+CPPFLAGS += -DJFR_NDEBUG
+CXXFLAGS += -pthread
+
+CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
+CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
+
+include ../../wip/jafar-kernel/depend.mk
+include ../../wip/jafar-jmath/depend.mk
+include ../../graphics/gdhe/depend.mk
+include ../../math/boost-numeric-bindings/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+
+include ../../pkgtools/libtool/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
diff --git a/jafar-gdhe/PLIST b/jafar-gdhe/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..fb8cd80ed3ee12c2f9cdc5ddf7fc5b6cebca8b68
--- /dev/null
+++ b/jafar-gdhe/PLIST
@@ -0,0 +1,10 @@
+@comment Wed Jun 15 20:32:17 CEST 2011
+include/jafar/gdhe/client.hpp
+include/jafar/gdhe/gdheException.hpp
+lib/libjafar-gdhe.so
+lib/libjafar-gdhe.so.${PKGVERSION}
+lib/libjafar-gdhe.so.0
+lib/pkgconfig/jafar-gdhe.pc
+share/cmake/jafar/gdhe-headers.cmake
+share/cmake/jafar/gdhe-release.cmake
+share/cmake/jafar/gdhe.cmake
diff --git a/jafar-gdhe/depend.mk b/jafar-gdhe/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..4dbfd3b2ecee26b2ff922fc6207c0e279b7f26cb
--- /dev/null
+++ b/jafar-gdhe/depend.mk
@@ -0,0 +1,23 @@
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+jafar-gdhe_DEPEND_MK:= ${jafar-gdhe_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= jafar-gdhe
+endif
+
+ifeq (+,$(jafar-gdhe_DEPEND_MK)) # -----------------------------------------------
+
+PREFER.jafar-gdhe?= robotpkg
+
+DEPEND_USE+= jafar-gdhe
+DEPEND_ABI.jafar-gdhe?= jafar-gdhe>=0.1
+DEPEND_DIR.jafar-gdhe?= ../../wip/jafar-gdhe
+
+SYSTEM_SEARCH.jafar-gdhe=\
+ include/jafar/gdhe/gdheException.hpp \
+ lib/libjafar-gdhe.so
+
+endif # jafar-gdhe_DEPEND_MK ----------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/jafar-gdhe/distinfo b/jafar-gdhe/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..b43f172ab4c9e464b51f4e5885470aa1d80781d4
--- /dev/null
+++ b/jafar-gdhe/distinfo
@@ -0,0 +1,3 @@
+SHA1 (jafar-gdhe-0.1.tar.gz) = 111dacc0840e84313f4b0ed5acf9c90cbf36d385
+RMD160 (jafar-gdhe-0.1.tar.gz) = 84a10b3396fbe60c32e6a31e2c8f442974b30623
+Size (jafar-gdhe-0.1.tar.gz) = 42156 bytes
diff --git a/jafar-image/DESCR b/jafar-image/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..539850f5eb29c589c0f8794e5ad44cb5160be2a7
--- /dev/null
+++ b/jafar-image/DESCR
@@ -0,0 +1 @@
+Jafar module for basic image processing, it is based on the OpenCV library
diff --git a/jafar-image/Makefile b/jafar-image/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..af2f0c600bf5369a3bf3fe5e715732ece77648f8
--- /dev/null
+++ b/jafar-image/Makefile
@@ -0,0 +1,29 @@
+PKGVERSION= 2.1
+DISTNAME= jafar-image-2.1
+PKGNAME= jafar-image-2.1
+CATEGORIES= image
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-image/}
+MAINTAINER= jafar@laas.fr
+HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
+COMMENT= Jafar module for basic image processing, it is based on the OpenCV library
+LICENSE= isc
+
+USE_LANGUAGES+= c c++ fortran
+USE_PKGLOCALEDIR= yes
+
+CPPFLAGS += -DJFR_NDEBUG
+CXXFLAGS += -pthread
+
+CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
+CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
+
+include ../../wip/jafar-kernel/depend.mk
+include ../../wip/jafar-jmath/depend.mk
+include ../../image/opencv/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+
+include ../../pkgtools/libtool/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
diff --git a/jafar-image/PLIST b/jafar-image/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..36a16f875e74fc246d14603db01004762edf01db
--- /dev/null
+++ b/jafar-image/PLIST
@@ -0,0 +1,24 @@
+@comment Wed Jun 15 19:48:43 CEST 2011
+include/jafar/image/Capture.hpp
+include/jafar/image/Image.hpp
+include/jafar/image/Image.hpp~
+include/jafar/image/ImagePreprocessor.hpp
+include/jafar/image/cImage.h
+include/jafar/image/filter.hpp
+include/jafar/image/imageException.hpp
+include/jafar/image/imout.hpp
+include/jafar/image/imout.hpp~
+include/jafar/image/iterator.hpp
+include/jafar/image/lkTracker.hpp
+include/jafar/image/oimstream.hpp
+include/jafar/image/oimstream.hpp~
+include/jafar/image/pyramid.hpp
+include/jafar/image/roi.hpp
+include/jafar/image/roi.hpp~
+lib/libjafar-image.so
+lib/libjafar-image.so.${PKGVERSION}
+lib/libjafar-image.so.2
+lib/pkgconfig/jafar-image.pc
+share/cmake/jafar/image-headers.cmake
+share/cmake/jafar/image-release.cmake
+share/cmake/jafar/image.cmake
diff --git a/jafar-image/depend.mk b/jafar-image/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..87b50132d900f569f75cbede7c630dbe78411336
--- /dev/null
+++ b/jafar-image/depend.mk
@@ -0,0 +1,23 @@
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+jafar-image_DEPEND_MK:= ${jafar-image_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= jafar-image
+endif
+
+ifeq (+,$(jafar-image_DEPEND_MK)) # -----------------------------------------------
+
+PREFER.jafar-image?= robotpkg
+
+DEPEND_USE+= jafar-image
+DEPEND_ABI.jafar-image?= jafar-image>=2.1
+DEPEND_DIR.jafar-image?= ../../wip/jafar-image
+
+SYSTEM_SEARCH.jafar-image=\
+ include/jafar/image/imageException.hpp \
+ lib/libjafar-image.so
+
+endif # jafar-image_DEPEND_MK ----------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/jafar-image/distinfo b/jafar-image/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..ff62541bfede3173d6dbfe0047558b0b604e776e
--- /dev/null
+++ b/jafar-image/distinfo
@@ -0,0 +1,3 @@
+SHA1 (jafar-image-2.1.tar.gz) = ac650ba22f4d1004d1b8f0d6eac863f9e4bdbf11
+RMD160 (jafar-image-2.1.tar.gz) = 55112939abd8c40a195699d35c72271367323f05
+Size (jafar-image-2.1.tar.gz) = 148533 bytes
diff --git a/jafar-jmath/DESCR b/jafar-jmath/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..d9f9460899a63fc04a267a17ce5cbeda52dba417
--- /dev/null
+++ b/jafar-jmath/DESCR
@@ -0,0 +1 @@
+Jafar module that defines some common mathematical tools: vector and matrix manipulation, random number generation,...
diff --git a/jafar-jmath/Makefile b/jafar-jmath/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a25e4d8ebf75d3274ccda722866685a99015337a
--- /dev/null
+++ b/jafar-jmath/Makefile
@@ -0,0 +1,37 @@
+PKGVERSION= 0.3
+DISTNAME= jafar-jmath-${PKGVERSION}
+PKGNAME= jafar-jmath-${PKGVERSION}
+CATEGORIES= wip
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-jmath/}
+MAINTAINER= jafar@laas.fr
+HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
+COMMENT= Jafar module that defines some common mathematical tools: vector and matrix manipulation, random number generation,...
+LICENSE= isc
+
+USE_LANGUAGES+= c c++ fortran
+USE_PKGLOCALEDIR= yes
+
+CPPFLAGS += -DJFR_NDEBUG
+CXXFLAGS += -pthread
+
+CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
+CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
+
+PKG_SUPPORTED_OPTIONS+= FLANN
+PKG_OPTION_DESCR.FLANN= Enable FLANN support.
+define PKG_OPTION_SET.FLANN
+ CMAKE_ARGS+= -DHAVE_FLANN=ON
+ include ../../wip/flann/depend.mk
+endef
+define PKG_OPTION_UNSET.FLANN
+ CMAKE_ARGS+= -DHAVE_FLANN=OFF
+endef
+
+include ../../wip/jafar-kernel/depend.mk
+include ../../math/lapack/depend.mk
+include ../../math/boost-numeric-bindings/depend.mk
+
+include ../../pkgtools/libtool/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
diff --git a/jafar-jmath/PLIST b/jafar-jmath/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..4e19132652c53cf9d71dd6eb3fe3772200003be6
--- /dev/null
+++ b/jafar-jmath/PLIST
@@ -0,0 +1,45 @@
+@comment Wed Jun 15 19:14:45 CEST 2011
+include/jafar/jmath/VariableSizeLinearLeastSquares.hpp
+include/jafar/jmath/angle.hpp
+include/jafar/jmath/boundedSymmetricMatrix.hpp
+include/jafar/jmath/cholesky.hpp
+include/jafar/jmath/delaunay.hpp
+include/jafar/jmath/gaussianVector.hpp
+include/jafar/jmath/indirectArray.hpp
+include/jafar/jmath/interpol.hpp
+include/jafar/jmath/ixaxpy.hpp
+include/jafar/jmath/jann.hpp
+include/jafar/jmath/jblas.hpp
+include/jafar/jmath/jmathException.hpp
+include/jafar/jmath/joptimization.hpp
+include/jafar/jmath/linearLeastSquares.hpp
+include/jafar/jmath/linearSolvers.hpp
+include/jafar/jmath/matlab.hpp
+include/jafar/jmath/matofmat.hpp
+include/jafar/jmath/mean_shift_clustering.hpp
+include/jafar/jmath/misc.hpp
+include/jafar/jmath/pca.hpp
+include/jafar/jmath/pca.hxx
+include/jafar/jmath/pcg.hpp
+include/jafar/jmath/precond.hpp
+include/jafar/jmath/random.hpp
+include/jafar/jmath/randomIntTmplt.hpp
+include/jafar/jmath/ransac.hpp
+include/jafar/jmath/serialization.hpp
+include/jafar/jmath/serialize_banded.hpp
+include/jafar/jmath/serialize_matrix.hpp
+include/jafar/jmath/serialize_storage.hpp
+include/jafar/jmath/serialize_symmetric.hpp
+include/jafar/jmath/serialize_vector.hpp
+include/jafar/jmath/ublasCompatibility.hpp
+include/jafar/jmath/ublasExtra.hpp
+include/jafar/jmath/ublas_data_file.hpp
+include/jafar/jmath/uniform_random.hpp
+include/jafar/jmath/vlls.hpp
+lib/libjafar-jmath.so
+lib/libjafar-jmath.so.${PKGVERSION}
+lib/libjafar-jmath.so.0
+lib/pkgconfig/jafar-jmath.pc
+share/cmake/jafar/jmath-headers.cmake
+share/cmake/jafar/jmath-release.cmake
+share/cmake/jafar/jmath.cmake
diff --git a/jafar-jmath/depend.mk b/jafar-jmath/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..4437ca3b44801f05ef0f7da4b8768fd545cfc9cf
--- /dev/null
+++ b/jafar-jmath/depend.mk
@@ -0,0 +1,23 @@
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+jafar-jmath_DEPEND_MK:= ${jafar-jmath_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= jafar-jmath
+endif
+
+ifeq (+,$(jafar-jmath_DEPEND_MK)) # -----------------------------------------------
+
+PREFER.jafar-jmath?= robotpkg
+
+DEPEND_USE+= jafar-jmath
+DEPEND_ABI.jafar-jmath?= jafar-jmath>=0.3
+DEPEND_DIR.jafar-jmath?= ../../wip/jafar-jmath
+
+SYSTEM_SEARCH.jafar-jmath=\
+ include/jafar/jmath/jmathException.hpp \
+ lib/libjafar-jmath.so
+
+endif # jafar-jmath_DEPEND_MK ----------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/jafar-jmath/distinfo b/jafar-jmath/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..a9e12c5bc9943949b7101664a661de4fe35ffbba
--- /dev/null
+++ b/jafar-jmath/distinfo
@@ -0,0 +1,3 @@
+SHA1 (jafar-jmath-0.3.tar.gz) = 2301cccb60349ae408d468cf0679433f99232bfc
+RMD160 (jafar-jmath-0.3.tar.gz) = 36f6ebb5695e3a30bfbe915269aeb1e9b34d8ac4
+Size (jafar-jmath-0.3.tar.gz) = 539828 bytes
diff --git a/jafar-kernel/Makefile b/jafar-kernel/Makefile
index 10d71e5fdc68c4236d644f669f021b2800e3dbdd..e4f411d8eb248e928fb26e54e65f7e557fa2d35a 100644
--- a/jafar-kernel/Makefile
+++ b/jafar-kernel/Makefile
@@ -16,6 +16,9 @@ LICENSE= isc
USE_LANGUAGES+= c c++ fortran
USE_PKGLOCALEDIR= yes
+CPPFLAGS += -DJFR_NDEBUG
+CXXFLAGS += -pthread
+
CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
diff --git a/jafar-lgl/Makefile b/jafar-lgl/Makefile
index 9f751cc50812d6c4259132ad884354cd83fe2b18..600e0d0025cfe4c71cd988d433251161d1996a31 100644
--- a/jafar-lgl/Makefile
+++ b/jafar-lgl/Makefile
@@ -2,7 +2,7 @@
# Created: Redouane Boumghar on Thu, 17 Mar 2011
#
-PKGVERSION= 1.4
+PKGVERSION= 1.6.1
DISTNAME= jafar-lgl-${PKGVERSION}
CATEGORIES= wip
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-lgl/}
diff --git a/jafar-lgl/PLIST b/jafar-lgl/PLIST
index 8094de46dd03c66ba26fc6f86571a6be231200e3..d48702bd8269ce30265586b74b7e0a7c6203559a 100644
--- a/jafar-lgl/PLIST
+++ b/jafar-lgl/PLIST
@@ -1,4 +1,4 @@
-@comment Wed Mar 16 17:51:03 CET 2011
+@comment Mon Jun 13 18:48:27 CEST 2011
include/jafar/lgl/Attributes.hpp
include/jafar/lgl/CostManager.hpp
include/jafar/lgl/Decomp.hpp
@@ -24,10 +24,12 @@ include/jafar/lgl/Quadtree.hpp
include/jafar/lgl/QuadtreeMatrix.hpp
include/jafar/lgl/Raster.hpp
include/jafar/lgl/RasterBand.hpp
+include/jafar/lgl/VisibilityMap.hpp
+include/jafar/lgl/VisibleArea.hpp
include/jafar/lgl/lglException.hpp
lib/libjafar-lgl.so
-lib/libjafar-lgl.so.${PKGVERSION}
lib/libjafar-lgl.so.1
+lib/libjafar-lgl.so.${PKGVERSION}
lib/pkgconfig/jafar-lgl.pc
share/cmake/jafar/lgl-headers.cmake
share/cmake/jafar/lgl-release.cmake
diff --git a/jafar-lgl/depend.mk b/jafar-lgl/depend.mk
index 39a643bed1f36d055c11332c8a0a681e6d90a199..7c3fffaf0426833d17eb509244ef65135b3c5855 100644
--- a/jafar-lgl/depend.mk
+++ b/jafar-lgl/depend.mk
@@ -14,7 +14,7 @@ ifeq (+,$(jafar-lgl_DEPEND_MK)) # ----------------------------------------------
PREFER.jafar-lgl?= robotpkg
DEPEND_USE+= jafar-lgl
-DEPEND_ABI.jafar-lgl?= jafar-lgl>=1.1
+DEPEND_ABI.jafar-lgl?= jafar-lgl>=1.5
DEPEND_DIR.jafar-lgl?= ../../wip/jafar-lgl
SYSTEM_SEARCH.jafar-lgl=\
diff --git a/jafar-lgl/distinfo b/jafar-lgl/distinfo
index 5ea9edc0648677cce04d7c130cd92aacf42b844e..a612d85f77256eefeb165b9441c25ef7e7d0b64b 100644
--- a/jafar-lgl/distinfo
+++ b/jafar-lgl/distinfo
@@ -1,3 +1,3 @@
-SHA1 (jafar-lgl-1.4.tar.gz) = 99f6db1aba3207aa92ea59b7ac189ae7275ca1c3
-RMD160 (jafar-lgl-1.4.tar.gz) = f305a6d490b8945f2bb5ddab2bbcd82a4909a562
-Size (jafar-lgl-1.4.tar.gz) = 316540 bytes
+SHA1 (jafar-lgl-1.6.1.tar.gz) = fb196d2b3c2c4220a3ac562e2a4b83d5dd46209c
+RMD160 (jafar-lgl-1.6.1.tar.gz) = b43071881cc6e06462fb4b869d5deb381154f2e5
+Size (jafar-lgl-1.6.1.tar.gz) = 333521 bytes
diff --git a/jafar-qdisplay/DESCR b/jafar-qdisplay/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..2cc9da81c9ed256f21c64360404d0304ef71849a
--- /dev/null
+++ b/jafar-qdisplay/DESCR
@@ -0,0 +1 @@
+Jafar module to display objects of type jafar::image::JfrImage.
diff --git a/jafar-qdisplay/Makefile b/jafar-qdisplay/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a022a849348355ea497e8b5229a703f3de049330
--- /dev/null
+++ b/jafar-qdisplay/Makefile
@@ -0,0 +1,30 @@
+PKGVERSION= 0.1
+DISTNAME= jafar-qdisplay-0.1
+PKGNAME= jafar-qdisplay-0.1
+CATEGORIES= wip
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-qdisplay/}
+MAINTAINER= jafar@laas.fr
+HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
+COMMENT= Jafar module to display objects of type jafar::image::JfrImage.
+LICENSE= isc
+
+USE_LANGUAGES+= c c++ fortran
+USE_PKGLOCALEDIR= yes
+
+CPPFLAGS += -DJFR_NDEBUG
+CXXFLAGS += -pthread
+
+CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
+CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
+
+include ../../wip/jafar-kernel/depend.mk
+include ../../wip/jafar-image/depend.mk
+include ../../wip/jafar-jmath/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../math/boost-numeric-bindings/depend.mk
+
+include ../../pkgtools/libtool/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
diff --git a/jafar-qdisplay/PLIST b/jafar-qdisplay/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..b00d9e43aae973c6ac0f0e7684896cfa20a3e80b
--- /dev/null
+++ b/jafar-qdisplay/PLIST
@@ -0,0 +1,25 @@
+@comment Wed Jun 15 20:26:47 CEST 2011
+include/jafar/qdisplay/AbstractEventHandler.hpp
+include/jafar/qdisplay/Ellipsoid.hpp
+include/jafar/qdisplay/ImageView.hpp
+include/jafar/qdisplay/ImageView.hpp~
+include/jafar/qdisplay/Line.hpp
+include/jafar/qdisplay/PolyLine.hpp
+include/jafar/qdisplay/Shape.hpp
+include/jafar/qdisplay/Shape.hpp~
+include/jafar/qdisplay/Viewer.hpp
+include/jafar/qdisplay/Viewer.hpp~
+include/jafar/qdisplay/ViewerManager.hpp
+include/jafar/qdisplay/imout.hpp
+include/jafar/qdisplay/imout.hpp~
+include/jafar/qdisplay/init.hpp
+include/jafar/qdisplay/init.hpp~
+include/jafar/qdisplay/iout.hpp~
+include/jafar/qdisplay/qdisplayException.hpp
+lib/libjafar-qdisplay.so
+lib/libjafar-qdisplay.so.${PKGVERSION}
+lib/libjafar-qdisplay.so.0
+lib/pkgconfig/jafar-qdisplay.pc
+share/cmake/jafar/qdisplay-headers.cmake
+share/cmake/jafar/qdisplay-release.cmake
+share/cmake/jafar/qdisplay.cmake
diff --git a/jafar-qdisplay/depend.mk b/jafar-qdisplay/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..144c81299ec7cd41760c272ed03835b55035ca5e
--- /dev/null
+++ b/jafar-qdisplay/depend.mk
@@ -0,0 +1,23 @@
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+jafar-qdisplay_DEPEND_MK:= ${jafar-qdisplay_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= jafar-qdisplay
+endif
+
+ifeq (+,$(jafar-qdisplay_DEPEND_MK)) # -----------------------------------------------
+
+PREFER.jafar-qdisplay?= robotpkg
+
+DEPEND_USE+= jafar-qdisplay
+DEPEND_ABI.jafar-qdisplay?= jafar-qdisplay>=0.1
+DEPEND_DIR.jafar-qdisplay?= ../../wip/jafar-qdisplay
+
+SYSTEM_SEARCH.jafar-qdisplay=\
+ include/jafar/qdisplay/qdisplayException.hpp \
+ lib/libjafar-qdisplay.so
+
+endif # jafar-qdisplay_DEPEND_MK ----------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/jafar-qdisplay/distinfo b/jafar-qdisplay/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..300b371c3d65a5b9d72cf111645df1548f8025e2
--- /dev/null
+++ b/jafar-qdisplay/distinfo
@@ -0,0 +1,3 @@
+SHA1 (jafar-qdisplay-0.1.tar.gz) = b924f46513953a11d4d0aa4eb882cd665ce4bb33
+RMD160 (jafar-qdisplay-0.1.tar.gz) = 5cdc3f27b35ed0ea6362c137e8077104d6b089e7
+Size (jafar-qdisplay-0.1.tar.gz) = 57884 bytes
diff --git a/jafar-rednav/Makefile b/jafar-rednav/Makefile
index 6752bc1e386325a66b2155cd5ba2069c7f2f7aba..165fc7012af189c133a65de5bf2625ec08b6f77f 100644
--- a/jafar-rednav/Makefile
+++ b/jafar-rednav/Makefile
@@ -2,13 +2,13 @@
# Created: Redouane Boumghar on Thu, 17 Mar 2011
#
-PKGVERSION= 0.6
+PKGVERSION= 0.9
DISTNAME= jafar-rednav-${PKGVERSION}
CATEGORIES= wip
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-rednav/}
MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/jafar/modules/rednav
-MAINTAINER= jafar@laas.fr
+MAINTAINER= redouane.boumghar@laas.fr
HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
COMMENT= Cooperative navigation mission library
LICENSE= isc
diff --git a/jafar-rednav/PLIST b/jafar-rednav/PLIST
index 75dec0dd682d531efb3b7cf73d06a815001641c9..d49e2ac2e734537ea3faa23397dc276f4968c105 100644
--- a/jafar-rednav/PLIST
+++ b/jafar-rednav/PLIST
@@ -1,11 +1,11 @@
-@comment Wed Apr 27 12:55:29 CEST 2011
+@comment Mon Jun 13 18:56:48 CEST 2011
include/jafar/rednav/navigator.hpp
include/jafar/rednav/pathTool.hpp
include/jafar/rednav/rednavException.hpp
include/jafar/rednav/sensorModel.hpp
lib/libjafar-rednav.so
-lib/libjafar-rednav.so.${PKGVERSION}
lib/libjafar-rednav.so.0
+lib/libjafar-rednav.so.${PKGVERSION}
lib/pkgconfig/jafar-rednav.pc
share/cmake/jafar/rednav-headers.cmake
share/cmake/jafar/rednav-release.cmake
diff --git a/jafar-rednav/depend.mk b/jafar-rednav/depend.mk
index 67c1fab7fbecff96e760406036b847c3d6b548a3..0b2d24b3a3fdecbe8690d3a3d325e98eb7ddc289 100644
--- a/jafar-rednav/depend.mk
+++ b/jafar-rednav/depend.mk
@@ -14,7 +14,7 @@ ifeq (+,$(jafar-rednav_DEPEND_MK)) # -------------------------------------------
PREFER.jafar-rednav?= robotpkg
DEPEND_USE+= jafar-rednav
-DEPEND_ABI.jafar-rednav?= jafar-rednav>=0.6
+DEPEND_ABI.jafar-rednav?= jafar-rednav>=0.8
DEPEND_DIR.jafar-rednav?= ../../wip/jafar-rednav
SYSTEM_SEARCH.jafar-rednav=\
diff --git a/jafar-rednav/distinfo b/jafar-rednav/distinfo
index 4ac224693f656ed2561a554cfee146962ce9ab13..d9123840deb63b8434186fd60550fdac38d5f86b 100644
--- a/jafar-rednav/distinfo
+++ b/jafar-rednav/distinfo
@@ -1,3 +1,3 @@
-SHA1 (jafar-rednav-0.6.tar.gz) = cbddd665e823b84d530702afbc915128a72fe743
-RMD160 (jafar-rednav-0.6.tar.gz) = 23464854a4b388cab2324fc6f291bd479f96a68d
-Size (jafar-rednav-0.6.tar.gz) = 18380 bytes
+SHA1 (jafar-rednav-0.9.tar.gz) = aadb4650ad85f21d7ef735cdb71bf167562a9c15
+RMD160 (jafar-rednav-0.9.tar.gz) = b0944778c2dd59bef3ba5b7d5d40930c9f6f1fda
+Size (jafar-rednav-0.9.tar.gz) = 25335 bytes
diff --git a/jafar-rtslam/DESCR b/jafar-rtslam/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..d3de1d6466a98ec7998655846528c5bd4df59d41
--- /dev/null
+++ b/jafar-rtslam/DESCR
@@ -0,0 +1 @@
+Jafar module to do fast and generic EKF Slam.
diff --git a/jafar-rtslam/Makefile b/jafar-rtslam/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..144cafed5bccf5ec1fc8561824f03d5d8adeda37
--- /dev/null
+++ b/jafar-rtslam/Makefile
@@ -0,0 +1,91 @@
+PKGVERSION= 0.1
+DISTNAME= jafar-rtslam-${PKGVERSION}
+PKGNAME= jafar-rtslam-${PKGVERSION}
+CATEGORIES= wip
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-rtslam/}
+MAINTAINER= jafar@laas.fr
+HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
+COMMENT= Jafar module to do fast and generic EKF Slam.
+LICENSE= isc
+
+USE_LANGUAGES+= c c++ fortran
+USE_PKGLOCALEDIR= yes
+
+CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
+CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
+CMAKE_ARGS+= -DCMAKE_MODULE_PATH=.
+
+# because the package generation is buggy, it declares JAFAR_NDEBUG instead
+CPPFLAGS += -DJFR_NDEBUG
+CXXFLAGS += -pthread
+
+PKG_SUPPORTED_OPTIONS+= posterlib
+PKG_OPTION_DESCR.posterlib= Enable posterLib support.
+define PKG_OPTION_SET.posterlib
+ CMAKE_ARGS+= -DHAVE_POSTERLIB=ON
+ CPPFLAGS+= -DHAVE_POSTERLIB
+ include ../../middleware/pocolibs/depend.mk
+endef
+define PKG_OPTION_UNSET.posterlib
+ CMAKE_ARGS+= -DHAVE_POSTERLIB=OFF
+endef
+
+PKG_SUPPORTED_OPTIONS+= viam
+PKG_OPTION_DESCR.viam= Enable viam support.
+define PKG_OPTION_SET.viam
+ CMAKE_ARGS+= -DHAVE_VIAM=ON
+ CPPFLAGS+= -DHAVE_VIAM
+ include ../../image/viam-libs/depend.mk
+ REQD_BUILD_OPTIONS.viam-libs+=opencv
+ include ../../image/opencv/depend.mk
+endef
+define PKG_OPTION_UNSET.viam
+ CMAKE_ARGS+= -DHAVE_VIAM=OFF
+endef
+
+PKG_SUPPORTED_OPTIONS+= MTI
+PKG_OPTION_DESCR.MTI= Enable MTI support.
+define PKG_OPTION_SET.MTI
+ CMAKE_ARGS+= -DHAVE_MTI=ON
+ CPPFLAGS+= -DHAVE_MTI
+ include ../../hardware/MTI/depend.mk
+endef
+define PKG_OPTION_UNSET.MTI
+ CMAKE_ARGS+= -DHAVE_MTI=OFF
+endef
+
+PKG_SUPPORTED_OPTIONS+= qdisplay
+PKG_OPTION_DESCR.qdisplay = Enable jafar module qdisplay support for 2D display
+define PKG_OPTION_SET.qdisplay
+ CPPFLAGS+=-DHAVE_MODULE_QDISPLAY
+ include ../../wip/jafar-qdisplay/depend.mk
+endef
+
+PKG_SUPPORTED_OPTIONS+= gdhe
+PKG_OPTION_DESCR.gdhe = Enable jafar module gdhe support for 3D display
+define PKG_OPTION_SET.gdhe
+ CPPFLAGS+=-DHAVE_MODULE_GDHE
+ include ../../wip/jafar-gdhe/depend.mk
+ include ../../graphics/gdhe/depend.mk
+endef
+
+PKG_SUPPORTED_OPTIONS+= dseg
+PKG_OPTION_DESCR.dseg= Enable jafar module dseg support for segments
+define PKG_OPTION_SET.dseg
+ CPPFLAGS+= -DHAVE_MODULE_DSEG
+ include ../../wip/jafar-dseg/depend.mk
+endef
+
+
+
+include ../../wip/jafar-kernel/depend.mk
+include ../../wip/jafar-image/depend.mk
+include ../../wip/jafar-jmath/depend.mk
+include ../../wip/jafar-correl/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+
+include ../../pkgtools/libtool/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
diff --git a/jafar-rtslam/PLIST b/jafar-rtslam/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..880ba67c8b1f9e8d73d2983a3dd3c1effa2057fc
--- /dev/null
+++ b/jafar-rtslam/PLIST
@@ -0,0 +1,147 @@
+@comment Sun Jun 19 01:14:33 CEST 2011
+include/jafar/rtslam/activeSearch.hpp
+include/jafar/rtslam/activeSearch.hpp~
+include/jafar/rtslam/activeSegmentSearch.hpp
+include/jafar/rtslam/ahpTools.hpp
+include/jafar/rtslam/ahpTools.hpp~
+include/jafar/rtslam/ahplTools.hpp
+include/jafar/rtslam/appearanceAbstract.hpp
+include/jafar/rtslam/appearanceImage.hpp
+include/jafar/rtslam/appearanceImage.hpp~
+include/jafar/rtslam/appearanceSegment.hpp
+include/jafar/rtslam/dataManagerAbstract.hpp
+include/jafar/rtslam/dataManagerActiveSearch.hpp
+include/jafar/rtslam/dataManagerActiveSearch.hpp~
+include/jafar/rtslam/dataManagerActiveSearch.impl.hpp
+include/jafar/rtslam/dataManagerActiveSearch.impl.hpp~
+include/jafar/rtslam/dataManagerOnePointRansac.hpp
+include/jafar/rtslam/dataManagerOnePointRansac.hpp~
+include/jafar/rtslam/dataManagerOnePointRansac.impl.hpp
+include/jafar/rtslam/dataManagerOnePointRansac.impl.hpp~
+include/jafar/rtslam/descriptorAbstract.hpp
+include/jafar/rtslam/descriptorAbstract.hpp~
+include/jafar/rtslam/descriptorImagePoint.hpp
+include/jafar/rtslam/descriptorImagePoint.hpp~
+include/jafar/rtslam/descriptorImageSeg.hpp
+include/jafar/rtslam/descriptorSeg.hpp
+include/jafar/rtslam/display.hpp
+include/jafar/rtslam/display.hpp~
+include/jafar/rtslam/display_example.hpp
+include/jafar/rtslam/display_gdhe.hpp
+include/jafar/rtslam/display_qt.hpp
+include/jafar/rtslam/display_qt.hpp~
+include/jafar/rtslam/estimatorAbstract.hpp
+include/jafar/rtslam/expectation.hpp
+include/jafar/rtslam/expectation.hpp~
+include/jafar/rtslam/exporterAbstract.hpp
+include/jafar/rtslam/exporterSocket.hpp
+include/jafar/rtslam/featureAbstract.hpp
+include/jafar/rtslam/featureAbstract.hpp~
+include/jafar/rtslam/featurePoint.hpp
+include/jafar/rtslam/featurePoint.hpp~
+include/jafar/rtslam/featureSegment.hpp
+include/jafar/rtslam/gaussian.hpp
+include/jafar/rtslam/gaussian.hpp~
+include/jafar/rtslam/hardwareEstimatorAbstract.hpp
+include/jafar/rtslam/hardwareEstimatorInertialAdhocSimulator.hpp
+include/jafar/rtslam/hardwareEstimatorInertialAdhocSimulator.hpp~
+include/jafar/rtslam/hardwareEstimatorMti.hpp
+include/jafar/rtslam/hardwareEstimatorMti.hpp~
+include/jafar/rtslam/hardwareSensorAbstract.hpp
+include/jafar/rtslam/hardwareSensorAbstract.hpp~
+include/jafar/rtslam/hardwareSensorAdhocSimulator.hpp
+include/jafar/rtslam/hardwareSensorAdhocSimulator.hpp~
+include/jafar/rtslam/hardwareSensorCameraFirewire.hpp
+include/jafar/rtslam/hardwareSensorCameraFirewire.hpp~
+include/jafar/rtslam/hardwareSensorGpsGenom.hpp
+include/jafar/rtslam/imageTools.hpp
+include/jafar/rtslam/innovation.hpp
+include/jafar/rtslam/innovation.hpp~
+include/jafar/rtslam/kalmanFilter.hpp
+include/jafar/rtslam/kalmanFilter.hpp~
+include/jafar/rtslam/kalmanTools.hpp
+include/jafar/rtslam/kalmanTools.hpp~
+include/jafar/rtslam/landmarkAbstract.hpp
+include/jafar/rtslam/landmarkAbstract.hpp~
+include/jafar/rtslam/landmarkAnchoredHomogeneousPoint.hpp
+include/jafar/rtslam/landmarkAnchoredHomogeneousPoint.hpp~
+include/jafar/rtslam/landmarkAnchoredHomogeneousPointsLine.hpp
+include/jafar/rtslam/landmarkEuclideanPoint.hpp
+include/jafar/rtslam/landmarkEuclideanPoint.hpp~
+include/jafar/rtslam/landmarkFactory.hpp
+include/jafar/rtslam/mapAbstract.hpp
+include/jafar/rtslam/mapAbstract.hpp~
+include/jafar/rtslam/mapManager.hpp
+include/jafar/rtslam/mapManager.hpp~
+include/jafar/rtslam/mapObject.hpp
+include/jafar/rtslam/mapObject.hpp~
+include/jafar/rtslam/measurement.hpp
+include/jafar/rtslam/measurement.hpp~
+include/jafar/rtslam/objectAbstract.hpp
+include/jafar/rtslam/objectAbstract.hpp~
+include/jafar/rtslam/observationAbstract.hpp
+include/jafar/rtslam/observationAbstract.hpp~
+include/jafar/rtslam/observationFactory.hpp
+include/jafar/rtslam/observationMakers.hpp
+include/jafar/rtslam/observationPinHoleAnchoredHomogeneous.hpp
+include/jafar/rtslam/observationPinHoleAnchoredHomogeneous.hpp~
+include/jafar/rtslam/observationPinHoleAnchoredHomogeneousPointsLine.hpp
+include/jafar/rtslam/observationPinHoleEuclideanPoint.hpp
+include/jafar/rtslam/observationPinHoleEuclideanPoint.hpp~
+include/jafar/rtslam/parents.hpp
+include/jafar/rtslam/parents.hpp~
+include/jafar/rtslam/perturbation.hpp
+include/jafar/rtslam/perturbation.hpp~
+include/jafar/rtslam/pinholeTools.hpp
+include/jafar/rtslam/pinholeTools.hpp~
+include/jafar/rtslam/quatTools.hpp
+include/jafar/rtslam/quickHarrisDetector.hpp
+include/jafar/rtslam/quickHarrisDetector.hpp~
+include/jafar/rtslam/rawAbstract.hpp
+include/jafar/rtslam/rawAbstract.hpp~
+include/jafar/rtslam/rawImage.hpp
+include/jafar/rtslam/rawImage.hpp~
+include/jafar/rtslam/rawProcessors.hpp
+include/jafar/rtslam/rawProcessors.hpp~
+include/jafar/rtslam/rawSegProcessors.hpp
+include/jafar/rtslam/robotAbstract.hpp
+include/jafar/rtslam/robotAbstract.hpp~
+include/jafar/rtslam/robotCenteredConstantVelocity.hpp
+include/jafar/rtslam/robotCenteredConstantVelocity.hpp~
+include/jafar/rtslam/robotConstantVelocity.hpp
+include/jafar/rtslam/robotConstantVelocity.hpp~
+include/jafar/rtslam/robotInertial.hpp
+include/jafar/rtslam/robotInertial.hpp~
+include/jafar/rtslam/robotOdometry.hpp
+include/jafar/rtslam/robotOdometry.hpp~
+include/jafar/rtslam/rtSlam.hpp
+include/jafar/rtslam/rtSlam.hpp~
+include/jafar/rtslam/rtslamException.hpp
+include/jafar/rtslam/sensorAbsloc.hpp
+include/jafar/rtslam/sensorAbstract.hpp
+include/jafar/rtslam/sensorAbstract.hpp~
+include/jafar/rtslam/sensorImageParameters.hpp
+include/jafar/rtslam/sensorImageParameters.hpp~
+include/jafar/rtslam/sensorManager.hpp
+include/jafar/rtslam/sensorPinHole.hpp~
+include/jafar/rtslam/sensorPinhole.hpp
+include/jafar/rtslam/simuData.hpp
+include/jafar/rtslam/simuData.hpp~
+include/jafar/rtslam/simuRawProcessors.hpp
+include/jafar/rtslam/simuRawProcessors.hpp~
+include/jafar/rtslam/simulator.hpp
+include/jafar/rtslam/simulator.hpp~
+include/jafar/rtslam/simulatorObjects.hpp
+include/jafar/rtslam/simulatorObjects.hpp~
+include/jafar/rtslam/visibilityManager.hpp~
+include/jafar/rtslam/visibilityMap.hpp
+include/jafar/rtslam/visibilityMap.hpp~
+include/jafar/rtslam/worldAbstract.hpp
+include/jafar/rtslam/worldAbstract.hpp~
+lib/libjafar-rtslam.so
+lib/libjafar-rtslam.so.${PKGVERSION}
+lib/libjafar-rtslam.so.0
+lib/pkgconfig/jafar-rtslam.pc
+share/cmake/jafar/rtslam-headers.cmake
+share/cmake/jafar/rtslam-release.cmake
+share/cmake/jafar/rtslam.cmake
diff --git a/jafar-rtslam/depend.mk b/jafar-rtslam/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..414ecdd7ab697d82f1a49c52ad7b6ecee0c2de53
--- /dev/null
+++ b/jafar-rtslam/depend.mk
@@ -0,0 +1,23 @@
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+jafar-rtslam_DEPEND_MK:= ${jafar-rtslam_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= jafar-rtslam
+endif
+
+ifeq (+,$(jafar-rtslam_DEPEND_MK)) # -----------------------------------------------
+
+PREFER.jafar-rtslam?= robotpkg
+
+DEPEND_USE+= jafar-rtslam
+DEPEND_ABI.jafar-rtslam?= jafar-rtslam>=0.1
+DEPEND_DIR.jafar-rtslam?= ../../wip/jafar-rtslam
+
+SYSTEM_SEARCH.jafar-rtslam=\
+ include/jafar/rtslam/rtslamException.hpp \
+ lib/libjafar-rtslam.so
+
+endif # jafar-rtslam_DEPEND_MK ----------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/jafar-rtslam/distinfo b/jafar-rtslam/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..a261b10c38b576f709256692377dea373bf89085
--- /dev/null
+++ b/jafar-rtslam/distinfo
@@ -0,0 +1,6 @@
+SHA1 (jafar-rtslam-0.1.tar.gz) = d6f0cc5f1942d77d392502b00cb9793fc7813208
+RMD160 (jafar-rtslam-0.1.tar.gz) = 501399ae73f2fb94b5fd864f0fe6470e1607db00
+Size (jafar-rtslam-0.1.tar.gz) = 2994279 bytes
+SHA1 (patch-bb) = c5199acd272c3bf7752f0fe3677268890572cfc9
+SHA1 (patch-dd) = 221f7f12ad48def2e3f55ef0f696cdcaf6a19f78
+SHA1 (patch-ee) = 2b79b15318ff326db3339afab63469d9334362fe
diff --git a/jafar-rtslam/patches/patch-bb b/jafar-rtslam/patches/patch-bb
new file mode 100644
index 0000000000000000000000000000000000000000..2901e39c8f736f1d402260de92215a25aaf755db
--- /dev/null
+++ b/jafar-rtslam/patches/patch-bb
@@ -0,0 +1,112 @@
+diff -Nu FindQt4.cmake FindQt4.cmake
+--- FindQt4.cmake 2011-04-08 12:28:39.000000000 +0200
++++ FindQt4.cmake 2011-06-18 23:37:33.000000000 +0200
+@@ -300,7 +300,7 @@
+ INCLUDE(CheckSymbolExists)
+ INCLUDE(MacroAddFileDependencies)
+
+-SET(QT_USE_FILE ${Jafar_SOURCE_DIR}/tools/cmake/UseQt4.cmake)
++SET(QT_USE_FILE UseQt4.cmake)
+
+ SET( QT_DEFINITIONS "")
+
+diff -Nu UseQt4.cmake UseQt4.cmake
+--- UseQt4.cmake 1970-01-01 01:00:00.000000000 +0100
++++ UseQt4.cmake 2011-06-18 23:36:49.000000000 +0200
+@@ -0,0 +1,96 @@
++# - Use Module for QT4
++# Sets up C and C++ to use Qt 4. It is assumed that FindQt.cmake
++# has already been loaded. See FindQt.cmake for information on
++# how to load Qt 4 into your CMake project.
++
++#=============================================================================
++# Copyright 2005-2009 Kitware, Inc.
++#
++# Distributed under the OSI-approved BSD License (the "License");
++# see accompanying file Copyright.txt for details.
++#
++# This software is distributed WITHOUT ANY WARRANTY; without even the
++# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
++# See the License for more information.
++#=============================================================================
++# (To distribute this file outside of CMake, substitute the full
++# License text for the above reference.)
++
++ADD_DEFINITIONS(${QT_DEFINITIONS})
++SET_PROPERTY(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG QT_DEBUG)
++SET_PROPERTY(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_RELEASE QT_NO_DEBUG)
++SET_PROPERTY(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_RELWITHDEBINFO QT_NO_DEBUG)
++SET_PROPERTY(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_MINSIZEREL QT_NO_DEBUG)
++
++INCLUDE_DIRECTORIES(${QT_INCLUDE_DIR})
++
++SET(QT_LIBRARIES "")
++
++IF (QT_USE_QTMAIN)
++ IF (Q_WS_WIN)
++ SET(QT_LIBRARIES ${QT_LIBRARIES} ${QT_QTMAIN_LIBRARY})
++ ENDIF (Q_WS_WIN)
++ENDIF (QT_USE_QTMAIN)
++
++IF(QT_DONT_USE_QTGUI)
++ SET(QT_USE_QTGUI 0)
++ELSE(QT_DONT_USE_QTGUI)
++ SET(QT_USE_QTGUI 1)
++ENDIF(QT_DONT_USE_QTGUI)
++
++IF(QT_DONT_USE_QTCORE)
++ SET(QT_USE_QTCORE 0)
++ELSE(QT_DONT_USE_QTCORE)
++ SET(QT_USE_QTCORE 1)
++ENDIF(QT_DONT_USE_QTCORE)
++
++IF (QT_USE_QT3SUPPORT)
++ ADD_DEFINITIONS(-DQT3_SUPPORT)
++ENDIF (QT_USE_QT3SUPPORT)
++
++# list dependent modules, so dependent libraries are added
++SET(QT_QT3SUPPORT_MODULE_DEPENDS QTGUI QTSQL QTXML QTNETWORK QTCORE)
++SET(QT_QTSVG_MODULE_DEPENDS QTGUI QTXML QTCORE)
++SET(QT_QTUITOOLS_MODULE_DEPENDS QTGUI QTXML QTCORE)
++SET(QT_QTHELP_MODULE_DEPENDS QTGUI QTSQL QTXML QTNETWORK QTCORE)
++IF(QT_QTDBUS_FOUND)
++ SET(QT_PHONON_MODULE_DEPENDS QTGUI QTDBUS QTCORE)
++ELSE(QT_QTDBUS_FOUND)
++ SET(QT_PHONON_MODULE_DEPENDS QTGUI QTCORE)
++ENDIF(QT_QTDBUS_FOUND)
++SET(QT_QTDBUS_MODULE_DEPENDS QTXML QTCORE)
++SET(QT_QTXMLPATTERNS_MODULE_DEPENDS QTNETWORK QTCORE)
++SET(QT_QAXCONTAINER_MODULE_DEPENDS QTGUI QTCORE)
++SET(QT_QAXSERVER_MODULE_DEPENDS QTGUI QTCORE)
++SET(QT_QTSCRIPTTOOLS_MODULE_DEPENDS QTGUI QTCORE)
++SET(QT_QTWEBKIT_MODULE_DEPENDS QTXMLPATTERNS QTGUI QTCORE)
++SET(QT_QTDECLARATIVE_MODULE_DEPENDS QTWEBKIT QTSCRIPT QTSVG QTSQL QTXMLPATTERNS QTXML QTOPENGL QTGUI QTNETWORK QTCORE)
++SET(QT_QTMULTIMEDIA_MODULE_DEPENDS QTGUI QTCORE)
++
++# Qt modules (in order of dependence)
++FOREACH(module QT3SUPPORT QTOPENGL QTASSISTANT QTDESIGNER QTMOTIF QTNSPLUGIN
++ QAXSERVER QAXCONTAINER QTDECLARATIVE QTSCRIPT QTSVG QTUITOOLS QTHELP
++ QTWEBKIT PHONON QTSCRIPTTOOLS QTMULTIMEDIA QTGUI QTTEST QTDBUS QTXML QTSQL
++ QTXMLPATTERNS QTNETWORK QTCORE)
++
++ IF (QT_USE_${module} OR QT_USE_${module}_DEPENDS)
++ IF (Qt4_${module}_FOUND)
++ IF(QT_USE_${module})
++ STRING(REPLACE "QT" "" qt_module_def "${module}")
++ ADD_DEFINITIONS(-DQT_${qt_module_def}_LIB)
++ INCLUDE_DIRECTORIES(${QT_${module}_INCLUDE_DIR})
++ ENDIF(QT_USE_${module})
++ SET(QT_LIBRARIES ${QT_LIBRARIES} ${Qt4_${module}_LIBRARY})
++ IF(QT_IS_STATIC)
++ SET(QT_LIBRARIES ${QT_LIBRARIES} ${Qt4_${module}_LIB_DEPENDENCIES})
++ ENDIF(QT_IS_STATIC)
++ FOREACH(depend_module ${QT_${module}_MODULE_DEPENDS})
++ SET(QT_USE_${depend_module}_DEPENDS 1)
++ ENDFOREACH(depend_module ${QT_${module}_MODULE_DEPENDS})
++ ELSE (Qt4_${module}_FOUND)
++ MESSAGE("Qt ${module} library not found.")
++ ENDIF (Qt4_${module}_FOUND)
++ ENDIF (QT_USE_${module} OR QT_USE_${module}_DEPENDS)
++
++ENDFOREACH(module)
++
diff --git a/jafar-rtslam/patches/patch-dd b/jafar-rtslam/patches/patch-dd
new file mode 100644
index 0000000000000000000000000000000000000000..83e2e4758e67db51e53c44204f60823d966f4eeb
--- /dev/null
+++ b/jafar-rtslam/patches/patch-dd
@@ -0,0 +1,41 @@
+diff -u CMakeLists.txt CMakeLists.txt
+--- CMakeLists.txt 2011-06-19 00:34:10.000000000 +0200
++++ CMakeLists.txt 2011-06-19 00:56:10.000000000 +0200
+@@ -75,7 +75,7 @@
+ #-----------------------------------------------------------------------------
+ # Go find them
+ #-----------------------------------------------------------------------------
+-foreach(package GDHE VIAM POSTERLIB OpenCV)
++foreach(package GDHE VIAM POSTERLIB)
+ find_robots_package("${package}")
+ string(TOUPPER "HAVE_${package}" HAVE_PACKAGE)
+ string(TOUPPER "${package}_FOUND" PACKAGE_FOUND)
+@@ -89,6 +89,28 @@
+ endif(${PACKAGE_FOUND})
+ endforeach(package)
+
++###
++# PkgConfig
++###
++include(FindPkgConfig)
++
++###
++# OpenCV
++###
++#include(FindOpenCV)
++#find_package(OpenCV)
++pkg_check_modules(OpenCV opencv)
++set(HAVE_OPENCV ${OpenCV_FOUND})
++set(OPENCV_FOUND ${OpenCV_FOUND})
++if(OpenCV_FOUND)
++ include_directories(${OpenCV_INCLUDE_DIRS})
++ link_directories(${OpenCV_LIBRARY_DIRS})
++ set(LIBS ${LIBS} ${OpenCV_LIBRARIES})
++ message(STATUS "version ${OpenCV_VERSION}")
++ set(LIBS_MAP_OPENCV "OpenCV")
++endif(OpenCV_FOUND)
++set(ROBOTPKG_MAP_OPENCV "image/opencv")
++
+
+ #-----------------------------------------------------------------------------
+ # Check for Boost
diff --git a/jafar-rtslam/patches/patch-ee b/jafar-rtslam/patches/patch-ee
new file mode 100644
index 0000000000000000000000000000000000000000..e1541e5040660088ee4581eadca4e83f46071abc
--- /dev/null
+++ b/jafar-rtslam/patches/patch-ee
@@ -0,0 +1,67 @@
+--- CMakeLists.txt 2011-06-19 02:21:44.000000000 +0200
++++ CMakeLists.txt 2011-06-19 02:22:44.000000000 +0200
+@@ -35,6 +35,55 @@
+ set(CMAKE_CXX_FLAGS_RELEASE "-o2 -g0 -DNDEBUG -DJAFAR_NDEBUG -DBOOST_UBLAS_NDEBUG")
+ set(CMAKE_CXX_FLAGS_DEBUG "-o0 -g3 -ggdb")
+
++#------------------------------------------------------------------------------
++#This macro generates qt special files
++#------------------------------------------------------------------------------
++macro(GENERATE_QT_FILES JAFAR_MODULENAME CPPFLAGS)
++ #include qt specific macros
++ include(${QT_USE_FILE})
++
++MESSAGE(STATUS, "QT_MOC_SRCS: ${QT_MOC_SRCS}")
++ string(TOUPPER "${JAFAR_MODULENAME}_WRAPPED_HEADERS" QTUI_H_SRC)
++ string(TOUPPER "${JAFAR_MODULENAME}_WRAPPED_CPPS" QT_MOC_SRCS)
++
++ #generate headers from ui files
++ file(GLOB UI_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.ui)
++# QT4_WRAP_UI(${QTUI_H_SRC} ${UI_FILES})
++ foreach(ui_file ${UI_FILES})
++ get_filename_component(generated_header ${ui_file} NAME_WE)
++ set(generated_header ${CMAKE_CURRENT_SOURCE_DIR}/src/${generated_header}.h)
++ execute_process(
++ COMMAND ${QT_UIC_EXECUTABLE} ${ui_file} -o ${generated_header}
++ OUTPUT_FILE ${generated_header}
++ INPUT_FILE ${ui_file}
++ )
++ set(${QTUI_H_SRC} ${${QTUI_H_SRC}} ${generated_header})
++ endforeach(ui_file)
++
++ # generate moc files from headers contining \"Q_OBJECT\"
++ file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/include/${JAFAR_MODULENAME}/*.hpp" "${CMAKE_CURRENT_SOURCE_DIR}/src/*.hpp")
++ foreach(header ${HEADERS})
++ file(STRINGS ${header} Q_OBJECT_STRING REGEX "Q_OBJECT")
++ if(NOT("${Q_OBJECT_STRING}" STREQUAL ""))
++ get_filename_component(generated_moc ${header} NAME_WE)
++ set(generated_moc ${CMAKE_CURRENT_SOURCE_DIR}/src/${generated_moc}.moc)
++
++ set(MYCPPFLAGS "${CPPFLAGS}")
++ string(STRIP "${MYCPPFLAGS}" MYCPPFLAGS)
++ string(REPLACE " " ";" MYCPPFLAGS "${MYCPPFLAGS}")
++ execute_process(
++ COMMAND ${QT_MOC_EXECUTABLE} ${MYCPPFLAGS} ${header} -o ${generated_moc}
++ )
++ set(${QT_MOC_SRCS} ${${QT_MOC_SRCS}} ${generated_moc})
++# QT4_GENERATE_MOC(${header} ${CMAKE_CURRENT_SOURCE_DIR}/src/${HEADER_NAME}.moc)
++ endif(NOT("${Q_OBJECT_STRING}" STREQUAL ""))
++ endforeach(header)
++
++# QT4_WRAP_CPP(${QT_MOC_SRCS} ${HEADERS_TO_MOC})
++
++endmacro(GENERATE_QT_FILES)
++
++
+ #-----------------------------------------------------------------------------
+ # Macro to help find other robotpkg modules
+ #-----------------------------------------------------------------------------
+@@ -189,6 +238,8 @@
+ endforeach(potential_include)
+ include_directories(${headers_folders})
+
++generate_qt_files(rtslam "-DHAVE_MODULE_QDISPLAY")
++
+ # build the library
+ add_library(jafar-rtslam SHARED ${module_sources})
+
diff --git a/mana-emergency/DESCR b/mana-emergency/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..58be8fca7fc1bf58e57d31f69238a3ff887e1532
--- /dev/null
+++ b/mana-emergency/DESCR
@@ -0,0 +1 @@
+Library to interface Mana's software emergency stop gadget.
diff --git a/mana-emergency/Makefile b/mana-emergency/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..2139b709ddb1c2885cd0c6e6675f875a31642f2c
--- /dev/null
+++ b/mana-emergency/Makefile
@@ -0,0 +1,24 @@
+# robotpkg Makefile for: robots/mana-emergency
+# Created: Matthieu Herrb on Mon, 23 Feb 2009
+#
+V= 0.1
+DISTNAME= ftdi-emergency-${V}
+PKGNAME= mana-emergency-${V}
+CATEGORIES= robots
+
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=rmp400/}
+MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/ftdi-emergency
+MAINTAINER= openrobots@laas.fr
+COMMENT= interface library for the Mana robot emergency stop
+
+LICENSE= isc
+
+GNU_CONFIGURE= yes
+
+pre-configure: autoreconf
+
+include ../../hardware/libftdi/depend.mk
+include ../../pkgtools/libtool/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/autoconf.mk
+include ../../mk/robotpkg.mk
diff --git a/mana-emergency/PLIST b/mana-emergency/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..744d79008b6a9c9ed2ac0114562b5a6b4d9e9d52
--- /dev/null
+++ b/mana-emergency/PLIST
@@ -0,0 +1,5 @@
+@comment Thu Jun 16 16:48:03 CEST 2011
+bin/fetest
+include/fe/ftdi-emergency.h
+lib/libfe.la
+lib/pkgconfig/felib.pc
diff --git a/mana-emergency/depend.mk b/mana-emergency/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..4a38fe5ea98ae2a3d901481353db1436ee7f9a45
--- /dev/null
+++ b/mana-emergency/depend.mk
@@ -0,0 +1,27 @@
+# robotpkg depend.mk for: robots/mana-emergency
+# Created: Matthieu Herrb on Thu, 29 Apr 2010
+#
+
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+MANA_EMERGENCY_DEPEND_MK:=${MANA_EMERGENCY_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= mana-emergency
+endif
+
+ifeq (+,$(MANA_EMERGENCY_DEPEND_MK))
+PREFER.mana-emergency?= robotpkg
+
+DEPEND_USE+= mana-emergency
+
+DEPEND_ABI.mana-emergency?= mana-emergency>=0.1
+DEPEND_DIR.mana-emergency?= ../../wip/mana-emergency
+
+SYSTEM_SEARCH.mana-emergency=\
+ bin/fetest \
+ include/fe/ftdi-emergency.h \
+ lib/pkgconfig/felib.pc
+endif
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/mana-emergency/distinfo b/mana-emergency/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..6225054e976b68b52e53779b9b174f6094abae28
--- /dev/null
+++ b/mana-emergency/distinfo
@@ -0,0 +1,3 @@
+SHA1 (ftdi-emergency-0.1.tar.gz) = 4063378d800616c88caf7c989cfb5bc1e14d8e64
+RMD160 (ftdi-emergency-0.1.tar.gz) = f4671c6f5a2248e88c0ecc1cf33b691bc906c96d
+Size (ftdi-emergency-0.1.tar.gz) = 270331 bytes
diff --git a/rednav-genom/Makefile b/rednav-genom/Makefile
index 1de574636382a6cbf10867cb5da65251d4d8bcef..435e1b027c1385ee659a0f39819a76ab23eada57 100644
--- a/rednav-genom/Makefile
+++ b/rednav-genom/Makefile
@@ -2,7 +2,7 @@
# Created: Arnaud Degroote on Sat, 19 Mar 2011
#
-VERSION= 0.6
+VERSION= 0.8
DISTNAME= rednav-genom-${VERSION}
CATEGORIES= wip
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=rednav-genom/}
diff --git a/rednav-genom/distinfo b/rednav-genom/distinfo
index 68ae0a7c2d37280830c85846b6b71eece37333ef..1235af3cb45ecc5216a6c702e1578caf9b0caff5 100644
--- a/rednav-genom/distinfo
+++ b/rednav-genom/distinfo
@@ -1,3 +1,3 @@
-SHA1 (rednav-genom-0.6.tar.gz) = f5e5259fc5f3cbb7425bf09409ef4684d4ee59e1
-RMD160 (rednav-genom-0.6.tar.gz) = 3dd9051575a5d068ba06e21d7b2adfeb722754ce
-Size (rednav-genom-0.6.tar.gz) = 7197 bytes
+SHA1 (rednav-genom-0.8.tar.gz) = c4312c3ac174ad6f84739bad35dca5d4ffbd2378
+RMD160 (rednav-genom-0.8.tar.gz) = e70f9183973b69b11abfe91b1e3ac70fcf86e3d5
+Size (rednav-genom-0.8.tar.gz) = 8980 bytes