diff --git a/BioMove3D/DESCR b/BioMove3D/DESCR
deleted file mode 100644
index 054104510585fa171b44facdd3c154d366f09edf..0000000000000000000000000000000000000000
--- a/BioMove3D/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-Motion planning and geometric reasonning module
diff --git a/BioMove3D/Makefile b/BioMove3D/Makefile
deleted file mode 100644
index 09080cea2caa6f0bff9feceacf6ceb7365af4859..0000000000000000000000000000000000000000
--- a/BioMove3D/Makefile
+++ /dev/null
@@ -1,64 +0,0 @@
-# robotpkg Makefile for: path/BioMove3D
-# Created: Severin Lemaignan on Tue, 31 Aug 2010
-#
-
-DISTNAME= BioMove3D-3.8.2
-PKGREVISION= 1
-CATEGORIES= path
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=BioMove3D/}
-MASTER_REPOSITORY= git http://trac.laas.fr/git/robots/BioMove3D.git
-
-MAINTAINER= biomove3dgitrepo@laas.fr
-COMMENT= Motion planning and geometric reasonning module
-#BioMove 3D is currently GPL because it depends
-# on GSL and GLPK that are 2 GLP librairies.
-LICENSE= gnu-gpl-v2
-
-USE_LANGUAGES+= c c++
-
-CMAKE_ARGS+= -DEigen_INCLUDE_DIR=${PREFIX.eigen2}/include/eigen2
-CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
-CMAKE_ARGS+= -DBOOST_LIBRARYDIR=${PREFIX.boost-libs}/lib
-
-PKG_OPTIONS_REQUIRED_GROUPS= mode
-PKG_OPTIONS_GROUP.mode= standalone jido
-
-##
-## Option standalone
-##
-PKG_OPTION_DESCR.standalone= Compile BioMove3D as an executable
-define PKG_OPTION_SET.standalone
-
-endef
-
-##
-## Option jido
-##
-PKG_OPTION_DESCR.jido= Compile BioMove3D for Jido as a library only
-
-define PKG_OPTION_SET.jido
- CMAKE_ARGS+= -DCOMPILE_FOR_GENOM=ON
- include ../../graphics/pqp/depend.mk
- include ../../math/gbM/depend.mk
- include ../../motion/softMotion-libs/depend.mk
-endef
-
-
-## Default option
-PKG_SUGGESTED_OPTIONS+= jido
-
-## Common includes
-include ../../mk/sysdep/cmake.mk
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../mk/sysdep/glu.mk
-include ../../math/eigen2/depend.mk
-include ../../mk/sysdep/gsl.mk
-
-include ../../wip/sysdep/glpk.mk
-include ../../wip/sysdep/gts.mk
-include ../../wip/sysdep/qhull.mk
-include ../../wip/sysdep/libxpm.mk
-include ../../mk/sysdep/qt4-libs.mk
-
-include ../../mk/robotpkg.mk
diff --git a/BioMove3D/PLIST b/BioMove3D/PLIST
deleted file mode 100644
index e3970173cdc9843aee0c8a53ea36158f94c2aa87..0000000000000000000000000000000000000000
--- a/BioMove3D/PLIST
+++ /dev/null
@@ -1,427 +0,0 @@
-@comment Thu Feb 3 18:29:21 CET 2011
-bin/move3d
-include/BioMove3D/animation/proto/anim_charac_traj_interface_proto.h
-include/BioMove3D/animation/proto/anim_charac_traj_proto.h
-include/BioMove3D/animation/proto/anim_compute_path_interface_proto.h
-include/BioMove3D/animation/proto/anim_compute_path_proto.h
-include/BioMove3D/animation/proto/anim_fft_proto.h
-include/BioMove3D/animation/proto/anim_interface_proto.h
-include/BioMove3D/animation/proto/anim_load_file_interface_proto.h
-include/BioMove3D/animation/proto/anim_load_file_proto.h
-include/BioMove3D/animation/proto/anim_optim_path_interface_proto.h
-include/BioMove3D/animation/proto/anim_optim_path_proto.h
-include/BioMove3D/animation/proto/anim_process_mcap_interface_proto.h
-include/BioMove3D/animation/proto/anim_process_mcap_proto.h
-include/BioMove3D/animation/proto/anim_proto.h
-include/BioMove3D/animation/proto/anim_reac_col_interface_proto.h
-include/BioMove3D/animation/proto/anim_reac_col_proto.h
-include/BioMove3D/animation/proto/anim_reactive_interface_proto.h
-include/BioMove3D/animation/proto/anim_reactive_proto.h
-include/BioMove3D/animation/proto/anim_sample_path_interface_proto.h
-include/BioMove3D/animation/proto/anim_sample_path_proto.h
-include/BioMove3D/animation/proto/anim_show_interface_proto.h
-include/BioMove3D/animation/proto/anim_utils_proto.h
-include/BioMove3D/animation/proto/anim_walk_controller_interface_proto.h
-include/BioMove3D/animation/proto/anim_walk_controller_proto.h
-include/BioMove3D/bio/BALL/ball_energy.hpp
-include/BioMove3D/bio/BALL/string_func.h
-include/BioMove3D/bio/BioCD/include/bcd_global.h
-include/BioMove3D/bio/BioCD/include/bcd_hierarchies.h
-include/BioMove3D/bio/BioCD/include/bcd_init.h
-include/BioMove3D/bio/BioCD/include/bcd_resize.h
-include/BioMove3D/bio/BioCD/include/bcd_shortdist.h
-include/BioMove3D/bio/BioCD/include/bcd_util.h
-include/BioMove3D/bio/BioCD/proto/bcd_hierarchies_proto.h
-include/BioMove3D/bio/BioCD/proto/bcd_init_proto.h
-include/BioMove3D/bio/BioCD/proto/bcd_proto.h
-include/BioMove3D/bio/BioCD/proto/bcd_resize_proto.h
-include/BioMove3D/bio/BioCD/proto/bcd_shordist_proto.h
-include/BioMove3D/bio/BioCD/proto/bcd_test_proto.h
-include/BioMove3D/bio/BioCD/proto/bcd_util_proto.h
-include/BioMove3D/bio/BioEnergy/include/Energy-pkg.h
-include/BioMove3D/bio/BioEnergy/include/amb_eln.h
-include/BioMove3D/bio/BioEnergy/include/bio_2amber.h
-include/BioMove3D/bio/BioEnergy/include/bio_allocations.h
-include/BioMove3D/bio/BioEnergy/include/bio_minimization.h
-include/BioMove3D/bio/BioEnergy/include/bio_nmode.h
-include/BioMove3D/bio/BioEnergy/include/bioenergy_common.h
-include/BioMove3D/bio/BioEnergy/proto/FORM_bio_energy_proto.h
-include/BioMove3D/bio/BioEnergy/proto/benergy_proto.h
-include/BioMove3D/bio/BioEnergy/proto/bio_coldeg_planner_proto.h
-include/BioMove3D/bio/BioEnergy/proto/bio_rrt_E_minimizer_proto.h
-include/BioMove3D/bio/BioLoop/proto/bio_ik_proto.h
-include/BioMove3D/bio/BioLoop/proto/bio_loop_proto.h
-include/BioMove3D/bio/BioLoop/proto/bio_track_loop_proto.h
-include/BioMove3D/bio/BioLoop/proto/bloop_proto.h
-include/BioMove3D/bio/BioPlanner/proto/bio_Algo_planner_proto.h
-include/BioMove3D/bio/BioPlanner/proto/bio_expand_lig_sc_proto.h
-include/BioMove3D/bio/BioPlanner/proto/bio_ligandbased_rrt_proto.h
-include/BioMove3D/bio/BioPlanner/proto/bio_localpath_proto.h
-include/BioMove3D/bio/BioPlanner/proto/bio_planner_util_proto.h
-include/BioMove3D/bio/BioPlanner/proto/bio_test_traj_proto.h
-include/BioMove3D/bio/BioPlanner/proto/bplan_proto.h
-include/BioMove3D/bio/BioStructures/include/BioSTR_pkg.h
-include/BioMove3D/bio/BioStructures/include/FORM_aaa.h
-include/BioMove3D/bio/BioStructures/include/FORM_files_selector.h
-include/BioMove3D/bio/BioStructures/include/FORM_joint_lig.h
-include/BioMove3D/bio/BioStructures/include/aaa_type.h
-include/BioMove3D/bio/BioStructures/include/psf_defs_bio.h
-include/BioMove3D/bio/BioStructures/include/psf_type.h
-include/BioMove3D/bio/BioStructures/include/psf_util.h
-include/BioMove3D/bio/BioStructures/proto/FORM_aaa_proto.h
-include/BioMove3D/bio/BioStructures/proto/FORM_files_selector_proto.h
-include/BioMove3D/bio/BioStructures/proto/FORM_joint_lig_proto.h
-include/BioMove3D/bio/BioStructures/proto/aaa_rw_proto.h
-include/BioMove3D/bio/BioStructures/proto/biostruct_util_proto.h
-include/BioMove3D/bio/BioStructures/proto/bst_proto.h
-include/BioMove3D/bio/BioStructures/proto/psf_defs_bio_proto.h
-include/BioMove3D/bio/BioStructures/proto/psf_get_set_proto.h
-include/BioMove3D/bio/BioStructures/proto/psf_rw_proto.h
-include/BioMove3D/bio/BioStructures/proto/psf_to_p3d_proto.h
-include/BioMove3D/bio/BioStructures/proto/psf_util_proto.h
-include/BioMove3D/bio/BioUtil/proto/bio_interface_utilities_proto.h
-include/BioMove3D/bio/BioUtil/proto/butl_proto.h
-include/BioMove3D/bio/BioUtil/proto/move3d_pdb_proto.h
-include/BioMove3D/collision/Kcd/include/kcd.h
-include/BioMove3D/collision/Kcd/include/kcd_aabb_tree.h
-include/BioMove3D/collision/Kcd/include/kcd_aabb_tree_global.h
-include/BioMove3D/collision/Kcd/include/kcd_api.h
-include/BioMove3D/collision/Kcd/include/kcd_global.h
-include/BioMove3D/collision/Kcd/include/kcd_sys.h
-include/BioMove3D/collision/Kcd/include/kcd_triangles.h
-include/BioMove3D/collision/Kcd/include/kcd_type.h
-include/BioMove3D/collision/Kcd/proto/kcd_aabb_polyh_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_aabb_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_aabb_tree_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_api_fcts_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_api_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_api_report_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_bb_init_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_bb_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_dist_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_gjk_debug_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_gjk_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_gjk_support_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_matrix_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_obb_api_gjk_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_obb_bb_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_obb_overlap_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_obb_polyh_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_obb_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_tables_proto.h
-include/BioMove3D/collision/Kcd/proto/kcd_triangles_proto.h
-include/BioMove3D/collision/PQP/include/BV.h
-include/BioMove3D/collision/PQP/include/BVTQ.h
-include/BioMove3D/collision/PQP/include/Build.h
-include/BioMove3D/collision/PQP/include/GetTime.h
-include/BioMove3D/collision/PQP/include/MatVec.h
-include/BioMove3D/collision/PQP/include/OBB_Disjoint.h
-include/BioMove3D/collision/PQP/include/PQP.h
-include/BioMove3D/collision/PQP/include/PQP_Compile.h
-include/BioMove3D/collision/PQP/include/PQP_Internal.h
-include/BioMove3D/collision/PQP/include/RectDist.h
-include/BioMove3D/collision/PQP/include/Tri.h
-include/BioMove3D/collision/PQP/include/TriDist.h
-include/BioMove3D/collision/PQP/include/p3d_pqp.h
-include/BioMove3D/collision/Vcollide/include/VCol-old.h
-include/BioMove3D/collision/Vcollide/src/VCol.h
-include/BioMove3D/collision/proto/collision_proto.h
-include/BioMove3D/collision/proto/coltestcomp_proto.h
-include/BioMove3D/collision/proto/p3d_col_env_proto.h
-include/BioMove3D/collision/proto/p3d_col_proto.h
-include/BioMove3D/collision/proto/p3d_col_traj_proto.h
-include/BioMove3D/collision/proto/p3d_collision_context_proto.h
-include/BioMove3D/collision/proto/p3d_filter_proto.h
-include/BioMove3D/collision/proto/p3d_kcd_proto.h
-include/BioMove3D/collision/proto/p3d_pqp_proto.h
-include/BioMove3D/collision/proto/p3d_triangles_proto.h
-include/BioMove3D/collision/proto/p3d_v_collide_proto.h
-include/BioMove3D/graphic/cppDev/drawCost.hpp
-include/BioMove3D/graphic/cppDev/drawModule.hpp
-include/BioMove3D/graphic/proto/g3d_draw_env_proto.h
-include/BioMove3D/graphic/proto/g3d_draw_graph_proto.h
-include/BioMove3D/graphic/proto/g3d_draw_proto.h
-include/BioMove3D/graphic/proto/g3d_draw_rrt_proto.h
-include/BioMove3D/graphic/proto/g3d_draw_traj_proto.h
-include/BioMove3D/graphic/proto/g3d_draw_ui_proto.h
-include/BioMove3D/graphic/proto/g3d_extensions_proto.h
-include/BioMove3D/graphic/proto/g3d_kcd_draw_proto.h
-include/BioMove3D/graphic/proto/g3d_logo.h
-include/BioMove3D/graphic/proto/g3d_states_proto.h
-include/BioMove3D/graphic/proto/g3d_window_proto.h
-include/BioMove3D/graphic/proto/glwidget.hpp
-include/BioMove3D/graphic/proto/graphic_proto.h
-include/BioMove3D/graphic/proto/qtG3DWindow.hpp
-include/BioMove3D/graphic/proto/uglyfont.h
-include/BioMove3D/graspPlanning/include/glpk.h
-include/BioMove3D/graspPlanning/include/gpConvexHull.h
-include/BioMove3D/graspPlanning/include/gpGrasp.h
-include/BioMove3D/graspPlanning/include/gpKdTree.h
-include/BioMove3D/graspPlanning/include/gpPlacement.h
-include/BioMove3D/graspPlanning/include/gpWorkspace.h
-include/BioMove3D/graspPlanning/include/gp_grasp_io.h
-include/BioMove3D/graspPlanning/include/gp_volInt.h
-include/BioMove3D/graspPlanning/include/graspPlanning.h
-include/BioMove3D/graspPlanning/proto/FormgraspPlanning_proto.h
-include/BioMove3D/graspPlanning/proto/gpPose_proto.h
-include/BioMove3D/graspPlanning/proto/gp_extensionsM3D_proto.h
-include/BioMove3D/graspPlanning/proto/gp_force_closure_proto.h
-include/BioMove3D/graspPlanning/proto/gp_geometry_proto.h
-include/BioMove3D/graspPlanning/proto/gp_grasp_generation_proto.h
-include/BioMove3D/graspPlanning/proto/gp_grasping_utils_proto.h
-include/BioMove3D/graspPlanning/proto/gp_inertia_axes_proto.h
-include/BioMove3D/graspPlanning/proto/gp_volInt_proto.h
-include/BioMove3D/groundHeight/doc/additionalDoc/package.h
-include/BioMove3D/groundHeight/doc/figures/partition.png
-include/BioMove3D/groundHeight/doc/footer.html
-include/BioMove3D/groundHeight/doc/header.html
-include/BioMove3D/groundHeight/src/groundHeight.h
-include/BioMove3D/groundHeight/src/groundWrapper.h
-include/BioMove3D/hri_planner/graphic/proto/g3d_draw_camera_proto.h
-include/BioMove3D/hri_planner/graphic/proto/g3d_draw_navigation_proto.h
-include/BioMove3D/hri_planner/graphic/proto/g3d_perspective_window_proto.h
-include/BioMove3D/hri_planner/graphic/proto/g3d_position_area_proto.h
-include/BioMove3D/hri_planner/graphic/proto/hri_graphic_proto.h
-include/BioMove3D/hri_planner/include/Mightability_Maps.h
-include/BioMove3D/hri_planner/include/hri_agent.h
-include/BioMove3D/hri_planner/include/hri_bitmap.h
-include/BioMove3D/hri_planner/include/hri_bitmap_bin_heap.h
-include/BioMove3D/hri_planner/include/hri_bitmap_cost.h
-include/BioMove3D/hri_planner/include/hri_bitmap_draw.h
-include/BioMove3D/hri_planner/include/hri_bitmap_util.h
-include/BioMove3D/hri_planner/include/hri_distance.h
-include/BioMove3D/hri_planner/include/hri_graphic.h
-include/BioMove3D/hri_planner/include/hri_knowledge.h
-include/BioMove3D/hri_planner/include/hri_manip.h
-include/BioMove3D/hri_planner/include/hrp2_gik.h
-include/BioMove3D/hri_planner/include/perspective.h
-include/BioMove3D/hri_planner/proto/FORM_HRI_affordance_proto.h
-include/BioMove3D/hri_planner/proto/FORMgikjointselection_proto.h
-include/BioMove3D/hri_planner/proto/FORMhri_planner_proto.h
-include/BioMove3D/hri_planner/proto/FORMpsp_parameters_proto.h
-include/BioMove3D/hri_planner/proto/HRP2_gik_proto.h
-include/BioMove3D/hri_planner/proto/hri_affordance_include_proto.h
-include/BioMove3D/hri_planner/proto/hri_affordance_proto.h
-include/BioMove3D/hri_planner/proto/hri_agent_proto.h
-include/BioMove3D/hri_planner/proto/hri_bitmap_proto.h
-include/BioMove3D/hri_planner/proto/hri_gik_proto.h
-include/BioMove3D/hri_planner/proto/hri_graphic_proto.h
-include/BioMove3D/hri_planner/proto/hri_knowledge_proto.h
-include/BioMove3D/hri_planner/proto/hri_manip_proto.h
-include/BioMove3D/hri_planner/proto/hri_planner_proto.h
-include/BioMove3D/hri_planner/proto/hri_visibility_proto.h
-include/BioMove3D/hri_planner/proto/hri_wave_exp_proto.h
-include/BioMove3D/hri_planner/proto/p3d_perspective_proto.h
-include/BioMove3D/include/Animation-pkg.h
-include/BioMove3D/include/Bio-pkg.h
-include/BioMove3D/include/Collision-pkg.h
-include/BioMove3D/include/Graphic-pkg.h
-include/BioMove3D/include/GraspPlanning-pkg.h
-include/BioMove3D/include/GroundHeight-pkg.h
-include/BioMove3D/include/Hri_planner-pkg.h
-include/BioMove3D/include/LightPlanner-pkg.h
-include/BioMove3D/include/Localpath-pkg.h
-include/BioMove3D/include/Move3d-pkg.h
-include/BioMove3D/include/P3d-pkg.h
-include/BioMove3D/include/Planner-pkg.h
-include/BioMove3D/include/Qt-pkg.h
-include/BioMove3D/include/Rrt-pkg.h
-include/BioMove3D/include/Sdk-pkg.h
-include/BioMove3D/include/UdpClient.h
-include/BioMove3D/include/UserAppli-pkg.h
-include/BioMove3D/include/Util-pkg.h
-include/BioMove3D/include/animation.h
-include/BioMove3D/include/arm_models/pa10Const.h
-include/BioMove3D/include/bio.h
-include/BioMove3D/include/cntrt.h
-include/BioMove3D/include/collision_context.h
-include/BioMove3D/include/device.h
-include/BioMove3D/include/dyna_list.h
-include/BioMove3D/include/ebt.h
-include/BioMove3D/include/elastic.h
-include/BioMove3D/include/environment.h
-include/BioMove3D/include/g3d_states.h
-include/BioMove3D/include/g3d_window.h
-include/BioMove3D/include/list.h
-include/BioMove3D/include/localpath.h
-include/BioMove3D/include/move3d.h
-include/BioMove3D/include/p3d.h
-include/BioMove3D/include/p3d_matrix.h
-include/BioMove3D/include/p3d_poly.h
-include/BioMove3D/include/p3d_sys.h
-include/BioMove3D/include/p3d_type.h
-include/BioMove3D/include/p3d_type.h.bleo
-include/BioMove3D/include/polyhedre.h
-include/BioMove3D/include/roadmap.h
-include/BioMove3D/include/roadmap.h.bleo
-include/BioMove3D/include/rs.h
-include/BioMove3D/include/stat.h
-include/BioMove3D/include/traj.h
-include/BioMove3D/include/triangles.h
-include/BioMove3D/lightPlanner/proto/DlrObject.h
-include/BioMove3D/lightPlanner/proto/DlrParser.h
-include/BioMove3D/lightPlanner/proto/DlrPlan.h
-include/BioMove3D/lightPlanner/proto/DlrPlanner.h
-include/BioMove3D/lightPlanner/proto/Manipulation.h
-include/BioMove3D/lightPlanner/proto/ManipulationPlanner.hpp
-include/BioMove3D/lightPlanner/proto/ManipulationStruct.h
-include/BioMove3D/lightPlanner/proto/ManipulationTestFunctions.hpp
-include/BioMove3D/lightPlanner/proto/ManipulationUtils.hpp
-include/BioMove3D/lightPlanner/proto/lightPlanner.h
-include/BioMove3D/lightPlanner/proto/lightPlannerApi.h
-include/BioMove3D/lightPlanner/proto/robotPos.h
-include/BioMove3D/localpath/flat/include/const_flat.h
-include/BioMove3D/localpath/flat/include/general_flat_proto.h
-include/BioMove3D/localpath/flat/include/init_flat_proto.h
-include/BioMove3D/localpath/flat/include/kinematic_flat_proto.h
-include/BioMove3D/localpath/flat/include/struct_flat.h
-include/BioMove3D/localpath/include/p3d_localPathGroup.h
-include/BioMove3D/localpath/proto/localpath_proto.h
-include/BioMove3D/localpath/proto/p3d_hilare_flat_proto.h
-include/BioMove3D/localpath/proto/p3d_linear_proto.h
-include/BioMove3D/localpath/proto/p3d_local_proto.h
-include/BioMove3D/localpath/proto/p3d_manhattan_proto.h
-include/BioMove3D/localpath/proto/p3d_multiLocalPath_proto.h
-include/BioMove3D/localpath/proto/p3d_reeds_shepp_proto.h
-include/BioMove3D/localpath/proto/p3d_softMotion_proto.h
-include/BioMove3D/localpath/proto/p3d_trailer_proto.h
-include/BioMove3D/localpath/proto/rs_curve_proto.h
-include/BioMove3D/localpath/proto/rs_dist_proto.h
-include/BioMove3D/move3d/proto/FORM_bio_collision_proto.h
-include/BioMove3D/move3d/proto/FORMconstraints_proto.h
-include/BioMove3D/move3d/proto/FORMdiffusion_proto.h
-include/BioMove3D/move3d/proto/FORMenv_proto.h
-include/BioMove3D/move3d/proto/FORMfilter_proto.h
-include/BioMove3D/move3d/proto/FORMgenom_proto.h
-include/BioMove3D/move3d/proto/FORMmain_proto.h
-include/BioMove3D/move3d/proto/FORMmobcam_proto.h
-include/BioMove3D/move3d/proto/FORMmultiLocalPath_proto.h
-include/BioMove3D/move3d/proto/FORMoptim_proto.h
-include/BioMove3D/move3d/proto/FORMpath_deform_proto.h
-include/BioMove3D/move3d/proto/FORMplanner_proto.h
-include/BioMove3D/move3d/proto/FORMrobot_proto.h
-include/BioMove3D/move3d/proto/FORMrrt_proto.h
-include/BioMove3D/move3d/proto/FORMsoftMotion_proto.h
-include/BioMove3D/move3d/proto/FORMsteering_proto.h
-include/BioMove3D/move3d/proto/move3d_proto.h
-include/BioMove3D/p3d/MTRand.hpp
-include/BioMove3D/p3d/ParametersEnv.hpp
-include/BioMove3D/p3d/env.hpp
-include/BioMove3D/p3d/proto/p3d_BB_proto.h
-include/BioMove3D/p3d/proto/p3d_autocol_proto.h
-include/BioMove3D/p3d/proto/p3d_config_proto.h
-include/BioMove3D/p3d/proto/p3d_constraints_proto.h
-include/BioMove3D/p3d/proto/p3d_constraints_proto.h.bak030707
-include/BioMove3D/p3d/proto/p3d_copy_robot.h
-include/BioMove3D/p3d/proto/p3d_del_proto.h
-include/BioMove3D/p3d/proto/p3d_env_proto.h
-include/BioMove3D/p3d/proto/p3d_get_proto.h
-include/BioMove3D/p3d/proto/p3d_halton_proto.h
-include/BioMove3D/p3d/proto/p3d_human_arm_ik_proto.h
-include/BioMove3D/p3d/proto/p3d_ik_kuka_proto.h
-include/BioMove3D/p3d/proto/p3d_ik_lwr_proto.h
-include/BioMove3D/p3d/proto/p3d_ik_pa10_proto.h
-include/BioMove3D/p3d/proto/p3d_ik_pr2_proto.h
-include/BioMove3D/p3d/proto/p3d_ik_proto.h
-include/BioMove3D/p3d/proto/p3d_ik_proto.h.bak030707
-include/BioMove3D/p3d/proto/p3d_info_proto.h
-include/BioMove3D/p3d/proto/p3d_jacobian_proto.h
-include/BioMove3D/p3d/proto/p3d_jnt_base_proto.h
-include/BioMove3D/p3d/proto/p3d_jnt_fixed_proto.h
-include/BioMove3D/p3d/proto/p3d_jnt_freeflyer_proto.h
-include/BioMove3D/p3d/proto/p3d_jnt_knee_proto.h
-include/BioMove3D/p3d/proto/p3d_jnt_plan_proto.h
-include/BioMove3D/p3d/proto/p3d_jnt_rotate_proto.h
-include/BioMove3D/p3d/proto/p3d_jnt_translate_proto.h
-include/BioMove3D/p3d/proto/p3d_joints_proto.h
-include/BioMove3D/p3d/proto/p3d_matrix_proto.h
-include/BioMove3D/p3d/proto/p3d_parallel_proto.h
-include/BioMove3D/p3d/proto/p3d_poly_proto.h
-include/BioMove3D/p3d/proto/p3d_prim_proto.h
-include/BioMove3D/p3d/proto/p3d_proto.h
-include/BioMove3D/p3d/proto/p3d_random_proto.h
-include/BioMove3D/p3d/proto/p3d_rlg_proto.h
-include/BioMove3D/p3d/proto/p3d_rw_env_proto.h
-include/BioMove3D/p3d/proto/p3d_rw_jnt_proto.h
-include/BioMove3D/p3d/proto/p3d_rw_scenario_proto.h
-include/BioMove3D/p3d/proto/p3d_rw_traj_proto.h
-include/BioMove3D/p3d/proto/p3d_rw_util_proto.h
-include/BioMove3D/p3d/proto/p3d_set_proto.h
-include/BioMove3D/p3d/proto/p3d_setpos_proto.h
-include/BioMove3D/p3d/proto/polyhedre_proto.h
-include/BioMove3D/planner/Diffusion/proto/Diffusion_proto.h
-include/BioMove3D/planner/Diffusion/proto/p3d_Diffusion_proto.h
-include/BioMove3D/planner/Diffusion/proto/p3d_DynamicDomain_proto.h
-include/BioMove3D/planner/Diffusion/proto/p3d_ExpansionDirection_proto.h
-include/BioMove3D/planner/Diffusion/proto/p3d_ExpansionNode_proto.h
-include/BioMove3D/planner/Diffusion/proto/p3d_ExpansionProcess_proto.h
-include/BioMove3D/planner/Diffusion/proto/p3d_Frames_proto.h
-include/BioMove3D/planner/Diffusion/proto/p3d_ManhatExpand_proto.h
-include/BioMove3D/planner/Diffusion/proto/p3d_Shell_proto.h
-include/BioMove3D/planner/Diffusion/proto/p3d_SpaceCost_proto.h
-include/BioMove3D/planner/astar/proto/astar_proto.h
-include/BioMove3D/planner/astar/proto/p3d_astar_proto.h
-include/BioMove3D/planner/astar/proto/p3d_defaultGraph_proto.h
-include/BioMove3D/planner/astar/proto/p3d_graphSearch_proto.h
-include/BioMove3D/planner/astar/proto/p3d_mgGraph_proto.h
-include/BioMove3D/planner/dfs/include/p3d_dfs.h
-include/BioMove3D/planner/dfs/include/p3d_dfsDefaultGraph.h
-include/BioMove3D/planner/dfs/include/p3d_dfsMgGraph.h
-include/BioMove3D/planner/dfs/proto/dfs_proto.h
-include/BioMove3D/planner/dpg/proto/DpgCell.h
-include/BioMove3D/planner/dpg/proto/DpgCell.old.h
-include/BioMove3D/planner/dpg/proto/DpgGrid.h
-include/BioMove3D/planner/dpg/proto/DpgGrid.old.h
-include/BioMove3D/planner/dpg/proto/p3d_chanEnv_proto.h
-include/BioMove3D/planner/proto/p3d_DPG_proto.h
-include/BioMove3D/planner/proto/p3d_NodeAndCompTools_proto.h
-include/BioMove3D/planner/proto/p3d_NodeWeight_proto.h
-include/BioMove3D/planner/proto/p3d_SelectedDistConfig_proto.h
-include/BioMove3D/planner/proto/p3d_astar_proto.h
-include/BioMove3D/planner/proto/p3d_elastic_proto.h
-include/BioMove3D/planner/proto/p3d_graph_api_proto.h
-include/BioMove3D/planner/proto/p3d_graph_in_grid_proto.h
-include/BioMove3D/planner/proto/p3d_graph_proto.h
-include/BioMove3D/planner/proto/p3d_graph_proto.multiFail.h
-include/BioMove3D/planner/proto/p3d_graph_quality_proto.h
-include/BioMove3D/planner/proto/p3d_graph_utils_proto.h
-include/BioMove3D/planner/proto/p3d_graph_utils_proto.multiFail.h
-include/BioMove3D/planner/proto/p3d_hriCost_proto.h
-include/BioMove3D/planner/proto/p3d_multiGraph_proto.h
-include/BioMove3D/planner/proto/p3d_optim_proto.h
-include/BioMove3D/planner/proto/p3d_potential_proto.h
-include/BioMove3D/planner/proto/p3d_rrt_proto.h
-include/BioMove3D/planner/proto/p3d_sample_proto.h
-include/BioMove3D/planner/proto/p3d_set_param_proto.h
-include/BioMove3D/planner/proto/p3d_softMotion_traj_proto.h
-include/BioMove3D/planner/proto/p3d_trajectory_proto.h
-include/BioMove3D/planner/proto/planner_proto.h
-include/BioMove3D/planner/rwGraph/proto/p3d_readDefaultGraph_proto.h
-include/BioMove3D/planner/rwGraph/proto/p3d_readMultiGraph_proto.h
-include/BioMove3D/planner/rwGraph/proto/p3d_rwXmlGraph_proto.h
-include/BioMove3D/planner/rwGraph/proto/p3d_rw_graph_proto.h
-include/BioMove3D/planner/rwGraph/proto/p3d_writeDefaultGraph_proto.h
-include/BioMove3D/planner/rwGraph/proto/p3d_writeMultiGraph_proto.h
-include/BioMove3D/planner/rwGraph/proto/rwGraph_proto.h
-include/BioMove3D/userappli/proto/FORMuser_appli_proto.h
-include/BioMove3D/userappli/proto/FORMuser_appli_proto.h.bak260309
-include/BioMove3D/userappli/proto/userappli_proto.h
-include/BioMove3D/userappli/proto/userappli_proto.h.bak260309
-include/BioMove3D/util/CppApi/MultiRun.hpp
-include/BioMove3D/util/CppApi/SaveContext.hpp
-include/BioMove3D/util/CppApi/StatCostStructure.hpp
-include/BioMove3D/util/CppApi/Statistics.hpp
-include/BioMove3D/util/CppApi/testModel.hpp
-include/BioMove3D/util/proto/basic_alloc_proto.h
-include/BioMove3D/util/proto/dyna_list_proto.h
-include/BioMove3D/util/proto/ebt_proto.h
-include/BioMove3D/util/proto/gnuplot_proto.h
-include/BioMove3D/util/proto/p3d_angle_proto.h
-include/BioMove3D/util/proto/stat_proto.h
-include/BioMove3D/util/proto/string_util_proto.h
-include/BioMove3D/util/proto/time_proto.h
-include/BioMove3D/util/proto/util_proto.h
-include/BioMove3D/util/vector3d.h
-lib/libBioMove3D.so
-lib/pkgconfig/BioMove3D.pc
diff --git a/BioMove3D/depend.mk b/BioMove3D/depend.mk
deleted file mode 100644
index 3a313d0324bc87e10357c6e59e5b7f0dba8878d9..0000000000000000000000000000000000000000
--- a/BioMove3D/depend.mk
+++ /dev/null
@@ -1,42 +0,0 @@
-# Copyright (c) 2010 LAAS/CNRS
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are
-# met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-# notice, this list of conditions and the following disclaimer in
-# the documentation and/or other materials provided with the
-# distribution.
-#
-# Severin Lemaignan on Tue 31 Aug 2010
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-BIOMOVE3D_DEPEND_MK:= ${BIOMOVE3D_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= BioMove3D
-endif
-
-ifeq (+,$(BIOMOVE3D_DEPEND_MK)) # ----------------------------------
-
-PREFER.BioMove3D?= robotpkg
-
-SYSTEM_SEARCH.BioMove3D=\
- include/BioMove3D/include/move3d.h \
- lib/libBioMove3D.so
-
-DEPEND_USE+= BioMove3D
-
-DEPEND_ABI.BioMove3D?=BioMove3D>=3.7.17
-DEPEND_DIR.BioMove3D?=../../wip/BioMove3D
-
-#include ../../wip/??
-
-endif # BIOMOVE3D_DEPEND_MK ----------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/BioMove3D/distinfo b/BioMove3D/distinfo
deleted file mode 100644
index d1106681a43f4e5ae11f23c171cb016ef4306aa9..0000000000000000000000000000000000000000
--- a/BioMove3D/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (BioMove3D-3.8.2.tar.gz) = f203ac62acd3216c4e0d2b9a02a28a3e382e0f70
-RMD160 (BioMove3D-3.8.2.tar.gz) = ea3d66d57df87f5f02937ce96a7f35bcb1627874
-Size (BioMove3D-3.8.2.tar.gz) = 5404444 bytes
diff --git a/Makefile b/Makefile
index be12919c8afa81f16544d9839415de2d3ea15060..cc5a502afb7901a2f417e08bfcb3023bd6208218 100644
--- a/Makefile
+++ b/Makefile
@@ -3,7 +3,7 @@
COMMENT= WIP packages
-SUBDIR+= BioMove3D
+SUBDIR+= libmove3d
SUBDIR+= gest-genom
SUBDIR+= kukaFri-libs
SUBDIR+= libfreenect
diff --git a/libmove3d/DESCR b/libmove3d/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..796ebe5bb919c234ad025f438ad057e4be74a613
--- /dev/null
+++ b/libmove3d/DESCR
@@ -0,0 +1,2 @@
+The BioMove3D library provides motion planning and geometric reasonning functionalities
+to be embedded in robots.
diff --git a/libmove3d/Makefile b/libmove3d/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..d68e066fedec0ae8b3d121fcf7b8dcdcaee64f6e
--- /dev/null
+++ b/libmove3d/Makefile
@@ -0,0 +1,38 @@
+# robotpkg Makefile for: path/libmove3d
+# Created: Severin Lemaignan on Fri, 11 Feb 2011
+#
+
+DISTNAME= libmove3d-3.9.1
+CATEGORIES= path
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=BioMove3D/}
+#MASTER_REPOSITORY= git http://trac.laas.fr/git/robots/BioMove3D.git
+MASTER_REPOSITORY= git /home/slemaign/softs-local/BioMove3D
+
+MAINTAINER= biomove3dgitrepo@laas.fr
+COMMENT= Library for motion planning and geometric reasonning
+
+#libmove3d is currently GPL because it depends
+# on GSL and GLPK that are 2 GLP librairies.
+LICENSE= gnu-gpl-v2
+
+USE_LANGUAGES+= c c++
+
+CMAKE_ARGS+= -DGENERATE_LIBMOVE3D=ON
+
+## Dependencies
+include ../../math/gbM/depend.mk
+include ../../motion/softMotion-libs/depend.mk
+
+include ../../mk/sysdep/glu.mk
+include ../../mk/sysdep/freeglut.mk
+include ../../mk/sysdep/gsl.mk
+include ../../mk/sysdep/libxml2.mk
+include ../../mk/sysdep/glib2.mk
+
+include ../../wip/sysdep/glpk.mk
+include ../../wip/sysdep/gts.mk
+include ../../wip/sysdep/qhull.mk
+include ../../wip/sysdep/libxpm.mk
+
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
diff --git a/libmove3d/PLIST b/libmove3d/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..b0a3ee15ea21703825b30c161dff67e0cbd5d026
--- /dev/null
+++ b/libmove3d/PLIST
@@ -0,0 +1,429 @@
+@comment Fri Feb 11 17:29:29 CET 2011
+include/libmove3d/animation/proto/anim_charac_traj_interface_proto.h
+include/libmove3d/animation/proto/anim_charac_traj_proto.h
+include/libmove3d/animation/proto/anim_compute_path_interface_proto.h
+include/libmove3d/animation/proto/anim_compute_path_proto.h
+include/libmove3d/animation/proto/anim_fft_proto.h
+include/libmove3d/animation/proto/anim_interface_proto.h
+include/libmove3d/animation/proto/anim_load_file_interface_proto.h
+include/libmove3d/animation/proto/anim_load_file_proto.h
+include/libmove3d/animation/proto/anim_optim_path_interface_proto.h
+include/libmove3d/animation/proto/anim_optim_path_proto.h
+include/libmove3d/animation/proto/anim_process_mcap_interface_proto.h
+include/libmove3d/animation/proto/anim_process_mcap_proto.h
+include/libmove3d/animation/proto/anim_proto.h
+include/libmove3d/animation/proto/anim_reac_col_interface_proto.h
+include/libmove3d/animation/proto/anim_reac_col_proto.h
+include/libmove3d/animation/proto/anim_reactive_interface_proto.h
+include/libmove3d/animation/proto/anim_reactive_proto.h
+include/libmove3d/animation/proto/anim_sample_path_interface_proto.h
+include/libmove3d/animation/proto/anim_sample_path_proto.h
+include/libmove3d/animation/proto/anim_show_interface_proto.h
+include/libmove3d/animation/proto/anim_utils_proto.h
+include/libmove3d/animation/proto/anim_walk_controller_interface_proto.h
+include/libmove3d/animation/proto/anim_walk_controller_proto.h
+include/libmove3d/bio/BALL/ball_energy.hpp
+include/libmove3d/bio/BALL/string_func.h
+include/libmove3d/bio/BioCD/include/bcd_global.h
+include/libmove3d/bio/BioCD/include/bcd_hierarchies.h
+include/libmove3d/bio/BioCD/include/bcd_init.h
+include/libmove3d/bio/BioCD/include/bcd_resize.h
+include/libmove3d/bio/BioCD/include/bcd_shortdist.h
+include/libmove3d/bio/BioCD/include/bcd_util.h
+include/libmove3d/bio/BioCD/proto/bcd_hierarchies_proto.h
+include/libmove3d/bio/BioCD/proto/bcd_init_proto.h
+include/libmove3d/bio/BioCD/proto/bcd_proto.h
+include/libmove3d/bio/BioCD/proto/bcd_resize_proto.h
+include/libmove3d/bio/BioCD/proto/bcd_shordist_proto.h
+include/libmove3d/bio/BioCD/proto/bcd_test_proto.h
+include/libmove3d/bio/BioCD/proto/bcd_util_proto.h
+include/libmove3d/bio/BioEnergy/include/Energy-pkg.h
+include/libmove3d/bio/BioEnergy/include/amb_eln.h
+include/libmove3d/bio/BioEnergy/include/bio_2amber.h
+include/libmove3d/bio/BioEnergy/include/bio_allocations.h
+include/libmove3d/bio/BioEnergy/include/bio_minimization.h
+include/libmove3d/bio/BioEnergy/include/bio_nmode.h
+include/libmove3d/bio/BioEnergy/include/bioenergy_common.h
+include/libmove3d/bio/BioEnergy/proto/FORM_bio_energy_proto.h
+include/libmove3d/bio/BioEnergy/proto/benergy_proto.h
+include/libmove3d/bio/BioEnergy/proto/bio_coldeg_planner_proto.h
+include/libmove3d/bio/BioEnergy/proto/bio_rrt_E_minimizer_proto.h
+include/libmove3d/bio/BioLoop/proto/bio_ik_proto.h
+include/libmove3d/bio/BioLoop/proto/bio_loop_proto.h
+include/libmove3d/bio/BioLoop/proto/bio_track_loop_proto.h
+include/libmove3d/bio/BioLoop/proto/bloop_proto.h
+include/libmove3d/bio/BioPlanner/proto/bio_Algo_planner_proto.h
+include/libmove3d/bio/BioPlanner/proto/bio_expand_lig_sc_proto.h
+include/libmove3d/bio/BioPlanner/proto/bio_ligandbased_rrt_proto.h
+include/libmove3d/bio/BioPlanner/proto/bio_localpath_proto.h
+include/libmove3d/bio/BioPlanner/proto/bio_planner_util_proto.h
+include/libmove3d/bio/BioPlanner/proto/bio_test_traj_proto.h
+include/libmove3d/bio/BioPlanner/proto/bplan_proto.h
+include/libmove3d/bio/BioStructures/include/BioSTR_pkg.h
+include/libmove3d/bio/BioStructures/include/FORM_aaa.h
+include/libmove3d/bio/BioStructures/include/FORM_files_selector.h
+include/libmove3d/bio/BioStructures/include/FORM_joint_lig.h
+include/libmove3d/bio/BioStructures/include/aaa_type.h
+include/libmove3d/bio/BioStructures/include/psf_defs_bio.h
+include/libmove3d/bio/BioStructures/include/psf_type.h
+include/libmove3d/bio/BioStructures/include/psf_util.h
+include/libmove3d/bio/BioStructures/proto/FORM_aaa_proto.h
+include/libmove3d/bio/BioStructures/proto/FORM_files_selector_proto.h
+include/libmove3d/bio/BioStructures/proto/FORM_joint_lig_proto.h
+include/libmove3d/bio/BioStructures/proto/aaa_rw_proto.h
+include/libmove3d/bio/BioStructures/proto/biostruct_util_proto.h
+include/libmove3d/bio/BioStructures/proto/bst_proto.h
+include/libmove3d/bio/BioStructures/proto/psf_defs_bio_proto.h
+include/libmove3d/bio/BioStructures/proto/psf_get_set_proto.h
+include/libmove3d/bio/BioStructures/proto/psf_rw_proto.h
+include/libmove3d/bio/BioStructures/proto/psf_to_p3d_proto.h
+include/libmove3d/bio/BioStructures/proto/psf_util_proto.h
+include/libmove3d/bio/BioUtil/proto/bio_interface_utilities_proto.h
+include/libmove3d/bio/BioUtil/proto/butl_proto.h
+include/libmove3d/bio/BioUtil/proto/move3d_pdb_proto.h
+include/libmove3d/collision/Kcd/include/kcd.h
+include/libmove3d/collision/Kcd/include/kcd_aabb_tree.h
+include/libmove3d/collision/Kcd/include/kcd_aabb_tree_global.h
+include/libmove3d/collision/Kcd/include/kcd_api.h
+include/libmove3d/collision/Kcd/include/kcd_global.h
+include/libmove3d/collision/Kcd/include/kcd_sys.h
+include/libmove3d/collision/Kcd/include/kcd_triangles.h
+include/libmove3d/collision/Kcd/include/kcd_type.h
+include/libmove3d/collision/Kcd/proto/kcd_aabb_polyh_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_aabb_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_aabb_tree_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_api_fcts_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_api_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_api_report_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_bb_init_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_bb_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_dist_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_gjk_debug_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_gjk_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_gjk_support_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_matrix_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_obb_api_gjk_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_obb_bb_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_obb_overlap_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_obb_polyh_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_obb_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_tables_proto.h
+include/libmove3d/collision/Kcd/proto/kcd_triangles_proto.h
+include/libmove3d/collision/PQP/include/BV.h
+include/libmove3d/collision/PQP/include/BVTQ.h
+include/libmove3d/collision/PQP/include/Build.h
+include/libmove3d/collision/PQP/include/GetTime.h
+include/libmove3d/collision/PQP/include/MatVec.h
+include/libmove3d/collision/PQP/include/OBB_Disjoint.h
+include/libmove3d/collision/PQP/include/PQP.h
+include/libmove3d/collision/PQP/include/PQP_Compile.h
+include/libmove3d/collision/PQP/include/PQP_Internal.h
+include/libmove3d/collision/PQP/include/RectDist.h
+include/libmove3d/collision/PQP/include/Tri.h
+include/libmove3d/collision/PQP/include/TriDist.h
+include/libmove3d/collision/PQP/include/p3d_pqp.h
+include/libmove3d/collision/Vcollide/include/VCol-old.h
+include/libmove3d/collision/Vcollide/src/VCol.h
+include/libmove3d/collision/proto/collision_proto.h
+include/libmove3d/collision/proto/coltestcomp_proto.h
+include/libmove3d/collision/proto/p3d_col_env_proto.h
+include/libmove3d/collision/proto/p3d_col_proto.h
+include/libmove3d/collision/proto/p3d_col_traj_proto.h
+include/libmove3d/collision/proto/p3d_collision_context_proto.h
+include/libmove3d/collision/proto/p3d_filter_proto.h
+include/libmove3d/collision/proto/p3d_kcd_proto.h
+include/libmove3d/collision/proto/p3d_pqp_proto.h
+include/libmove3d/collision/proto/p3d_triangles_proto.h
+include/libmove3d/collision/proto/p3d_v_collide_proto.h
+include/libmove3d/graphic/cppDev/drawCost.hpp
+include/libmove3d/graphic/cppDev/drawModule.hpp
+include/libmove3d/graphic/proto/g3d_draw_env_proto.h
+include/libmove3d/graphic/proto/g3d_draw_graph_proto.h
+include/libmove3d/graphic/proto/g3d_draw_proto.h
+include/libmove3d/graphic/proto/g3d_draw_rrt_proto.h
+include/libmove3d/graphic/proto/g3d_draw_traj_proto.h
+include/libmove3d/graphic/proto/g3d_draw_ui_proto.h
+include/libmove3d/graphic/proto/g3d_extensions_proto.h
+include/libmove3d/graphic/proto/g3d_glut.hpp
+include/libmove3d/graphic/proto/g3d_kcd_draw_proto.h
+include/libmove3d/graphic/proto/g3d_logo.h
+include/libmove3d/graphic/proto/g3d_newWindow.hpp
+include/libmove3d/graphic/proto/g3d_states_proto.h
+include/libmove3d/graphic/proto/g3d_window_proto.h
+include/libmove3d/graphic/proto/glwidget.hpp
+include/libmove3d/graphic/proto/graphic_proto.h
+include/libmove3d/graphic/proto/uglyfont.h
+include/libmove3d/graspPlanning/include/glpk.h
+include/libmove3d/graspPlanning/include/gpConvexHull.h
+include/libmove3d/graspPlanning/include/gpGrasp.h
+include/libmove3d/graspPlanning/include/gpKdTree.h
+include/libmove3d/graspPlanning/include/gpPlacement.h
+include/libmove3d/graspPlanning/include/gpWorkspace.h
+include/libmove3d/graspPlanning/include/gp_grasp_io.h
+include/libmove3d/graspPlanning/include/gp_volInt.h
+include/libmove3d/graspPlanning/include/graspPlanning.h
+include/libmove3d/graspPlanning/proto/FormgraspPlanning_proto.h
+include/libmove3d/graspPlanning/proto/gpPose_proto.h
+include/libmove3d/graspPlanning/proto/gp_extensionsM3D_proto.h
+include/libmove3d/graspPlanning/proto/gp_force_closure_proto.h
+include/libmove3d/graspPlanning/proto/gp_geometry_proto.h
+include/libmove3d/graspPlanning/proto/gp_grasp_generation_proto.h
+include/libmove3d/graspPlanning/proto/gp_grasping_utils_proto.h
+include/libmove3d/graspPlanning/proto/gp_inertia_axes_proto.h
+include/libmove3d/graspPlanning/proto/gp_volInt_proto.h
+include/libmove3d/groundHeight/doc/additionalDoc/package.h
+include/libmove3d/groundHeight/doc/figures/partition.png
+include/libmove3d/groundHeight/doc/footer.html
+include/libmove3d/groundHeight/doc/header.html
+include/libmove3d/groundHeight/src/groundHeight.h
+include/libmove3d/groundHeight/src/groundWrapper.h
+include/libmove3d/hri_planner/graphic/proto/g3d_draw_camera_proto.h
+include/libmove3d/hri_planner/graphic/proto/g3d_draw_navigation_proto.h
+include/libmove3d/hri_planner/graphic/proto/g3d_perspective_window_proto.h
+include/libmove3d/hri_planner/graphic/proto/g3d_position_area_proto.h
+include/libmove3d/hri_planner/graphic/proto/hri_graphic_proto.h
+include/libmove3d/hri_planner/include/HRI_tasks.h
+include/libmove3d/hri_planner/include/Mightability_Maps.h
+include/libmove3d/hri_planner/include/hri_agent.h
+include/libmove3d/hri_planner/include/hri_bitmap.h
+include/libmove3d/hri_planner/include/hri_bitmap_bin_heap.h
+include/libmove3d/hri_planner/include/hri_bitmap_cost.h
+include/libmove3d/hri_planner/include/hri_bitmap_draw.h
+include/libmove3d/hri_planner/include/hri_bitmap_util.h
+include/libmove3d/hri_planner/include/hri_distance.h
+include/libmove3d/hri_planner/include/hri_graphic.h
+include/libmove3d/hri_planner/include/hri_kinect.h
+include/libmove3d/hri_planner/include/hri_knowledge.h
+include/libmove3d/hri_planner/include/hri_manip.h
+include/libmove3d/hri_planner/include/hrp2_gik.h
+include/libmove3d/hri_planner/include/perspective.h
+include/libmove3d/hri_planner/proto/FORM_HRI_affordance_proto.h
+include/libmove3d/hri_planner/proto/FORMgikjointselection_proto.h
+include/libmove3d/hri_planner/proto/FORMhri_planner_proto.h
+include/libmove3d/hri_planner/proto/FORMpsp_parameters_proto.h
+include/libmove3d/hri_planner/proto/HRP2_gik_proto.h
+include/libmove3d/hri_planner/proto/hri_affordance_include_proto.h
+include/libmove3d/hri_planner/proto/hri_affordance_proto.h
+include/libmove3d/hri_planner/proto/hri_agent_proto.h
+include/libmove3d/hri_planner/proto/hri_bitmap_proto.h
+include/libmove3d/hri_planner/proto/hri_gik_proto.h
+include/libmove3d/hri_planner/proto/hri_graphic_proto.h
+include/libmove3d/hri_planner/proto/hri_knowledge_proto.h
+include/libmove3d/hri_planner/proto/hri_manip_proto.h
+include/libmove3d/hri_planner/proto/hri_planner_proto.h
+include/libmove3d/hri_planner/proto/hri_visibility_proto.h
+include/libmove3d/hri_planner/proto/hri_wave_exp_proto.h
+include/libmove3d/hri_planner/proto/p3d_perspective_proto.h
+include/libmove3d/include/Animation-pkg.h
+include/libmove3d/include/Bio-pkg.h
+include/libmove3d/include/Collision-pkg.h
+include/libmove3d/include/Graphic-pkg.h
+include/libmove3d/include/GraspPlanning-pkg.h
+include/libmove3d/include/GroundHeight-pkg.h
+include/libmove3d/include/Hri_planner-pkg.h
+include/libmove3d/include/LightPlanner-pkg.h
+include/libmove3d/include/Localpath-pkg.h
+include/libmove3d/include/Move3d-pkg.h
+include/libmove3d/include/P3d-pkg.h
+include/libmove3d/include/Planner-pkg.h
+include/libmove3d/include/Qt-pkg.h
+include/libmove3d/include/Rrt-pkg.h
+include/libmove3d/include/Sdk-pkg.h
+include/libmove3d/include/UdpClient.h
+include/libmove3d/include/UserAppli-pkg.h
+include/libmove3d/include/Util-pkg.h
+include/libmove3d/include/animation.h
+include/libmove3d/include/arm_models/pa10Const.h
+include/libmove3d/include/bio.h
+include/libmove3d/include/cntrt.h
+include/libmove3d/include/collision_context.h
+include/libmove3d/include/device.h
+include/libmove3d/include/dyna_list.h
+include/libmove3d/include/ebt.h
+include/libmove3d/include/elastic.h
+include/libmove3d/include/environment.h
+include/libmove3d/include/g3d_states.h
+include/libmove3d/include/g3d_window.h
+include/libmove3d/include/list.h
+include/libmove3d/include/localpath.h
+include/libmove3d/include/move3d.h
+include/libmove3d/include/p3d.h
+include/libmove3d/include/p3d_matrix.h
+include/libmove3d/include/p3d_poly.h
+include/libmove3d/include/p3d_sys.h
+include/libmove3d/include/p3d_type.h
+include/libmove3d/include/p3d_type.h.bleo
+include/libmove3d/include/polyhedre.h
+include/libmove3d/include/roadmap.h
+include/libmove3d/include/roadmap.h.bleo
+include/libmove3d/include/rs.h
+include/libmove3d/include/stat.h
+include/libmove3d/include/traj.h
+include/libmove3d/include/triangles.h
+include/libmove3d/lightPlanner/proto/DlrObject.h
+include/libmove3d/lightPlanner/proto/DlrParser.h
+include/libmove3d/lightPlanner/proto/DlrPlan.h
+include/libmove3d/lightPlanner/proto/DlrPlanner.h
+include/libmove3d/lightPlanner/proto/Manipulation.h
+include/libmove3d/lightPlanner/proto/ManipulationPlanner.hpp
+include/libmove3d/lightPlanner/proto/ManipulationStruct.h
+include/libmove3d/lightPlanner/proto/ManipulationTestFunctions.hpp
+include/libmove3d/lightPlanner/proto/ManipulationUtils.hpp
+include/libmove3d/lightPlanner/proto/lightPlanner.h
+include/libmove3d/lightPlanner/proto/lightPlannerApi.h
+include/libmove3d/lightPlanner/proto/robotPos.h
+include/libmove3d/localpath/flat/include/const_flat.h
+include/libmove3d/localpath/flat/include/general_flat_proto.h
+include/libmove3d/localpath/flat/include/init_flat_proto.h
+include/libmove3d/localpath/flat/include/kinematic_flat_proto.h
+include/libmove3d/localpath/flat/include/struct_flat.h
+include/libmove3d/localpath/include/p3d_localPathGroup.h
+include/libmove3d/localpath/proto/localpath_proto.h
+include/libmove3d/localpath/proto/p3d_hilare_flat_proto.h
+include/libmove3d/localpath/proto/p3d_linear_proto.h
+include/libmove3d/localpath/proto/p3d_local_proto.h
+include/libmove3d/localpath/proto/p3d_manhattan_proto.h
+include/libmove3d/localpath/proto/p3d_multiLocalPath_proto.h
+include/libmove3d/localpath/proto/p3d_reeds_shepp_proto.h
+include/libmove3d/localpath/proto/p3d_softMotion_proto.h
+include/libmove3d/localpath/proto/p3d_trailer_proto.h
+include/libmove3d/localpath/proto/rs_curve_proto.h
+include/libmove3d/localpath/proto/rs_dist_proto.h
+include/libmove3d/move3d/proto/FORM_bio_collision_proto.h
+include/libmove3d/move3d/proto/FORMconstraints_proto.h
+include/libmove3d/move3d/proto/FORMdiffusion_proto.h
+include/libmove3d/move3d/proto/FORMenv_proto.h
+include/libmove3d/move3d/proto/FORMfilter_proto.h
+include/libmove3d/move3d/proto/FORMgenom_proto.h
+include/libmove3d/move3d/proto/FORMmain_proto.h
+include/libmove3d/move3d/proto/FORMmobcam_proto.h
+include/libmove3d/move3d/proto/FORMmultiLocalPath_proto.h
+include/libmove3d/move3d/proto/FORMoptim_proto.h
+include/libmove3d/move3d/proto/FORMpath_deform_proto.h
+include/libmove3d/move3d/proto/FORMplanner_proto.h
+include/libmove3d/move3d/proto/FORMrobot_proto.h
+include/libmove3d/move3d/proto/FORMrrt_proto.h
+include/libmove3d/move3d/proto/FORMsoftMotion_proto.h
+include/libmove3d/move3d/proto/FORMsteering_proto.h
+include/libmove3d/move3d/proto/move3d_proto.h
+include/libmove3d/p3d/MTRand.hpp
+include/libmove3d/p3d/ParametersEnv.hpp
+include/libmove3d/p3d/env.hpp
+include/libmove3d/p3d/proto/p3d_BB_proto.h
+include/libmove3d/p3d/proto/p3d_autocol_proto.h
+include/libmove3d/p3d/proto/p3d_config_proto.h
+include/libmove3d/p3d/proto/p3d_constraints_proto.h
+include/libmove3d/p3d/proto/p3d_constraints_proto.h.bak030707
+include/libmove3d/p3d/proto/p3d_copy_robot.h
+include/libmove3d/p3d/proto/p3d_del_proto.h
+include/libmove3d/p3d/proto/p3d_env_proto.h
+include/libmove3d/p3d/proto/p3d_get_proto.h
+include/libmove3d/p3d/proto/p3d_halton_proto.h
+include/libmove3d/p3d/proto/p3d_human_arm_ik_proto.h
+include/libmove3d/p3d/proto/p3d_ik_kuka_proto.h
+include/libmove3d/p3d/proto/p3d_ik_lwr_proto.h
+include/libmove3d/p3d/proto/p3d_ik_pa10_proto.h
+include/libmove3d/p3d/proto/p3d_ik_pr2_proto.h
+include/libmove3d/p3d/proto/p3d_ik_proto.h
+include/libmove3d/p3d/proto/p3d_ik_proto.h.bak030707
+include/libmove3d/p3d/proto/p3d_info_proto.h
+include/libmove3d/p3d/proto/p3d_jacobian_proto.h
+include/libmove3d/p3d/proto/p3d_jnt_base_proto.h
+include/libmove3d/p3d/proto/p3d_jnt_fixed_proto.h
+include/libmove3d/p3d/proto/p3d_jnt_freeflyer_proto.h
+include/libmove3d/p3d/proto/p3d_jnt_knee_proto.h
+include/libmove3d/p3d/proto/p3d_jnt_plan_proto.h
+include/libmove3d/p3d/proto/p3d_jnt_rotate_proto.h
+include/libmove3d/p3d/proto/p3d_jnt_translate_proto.h
+include/libmove3d/p3d/proto/p3d_joints_proto.h
+include/libmove3d/p3d/proto/p3d_matrix_proto.h
+include/libmove3d/p3d/proto/p3d_parallel_proto.h
+include/libmove3d/p3d/proto/p3d_poly_proto.h
+include/libmove3d/p3d/proto/p3d_prim_proto.h
+include/libmove3d/p3d/proto/p3d_proto.h
+include/libmove3d/p3d/proto/p3d_random_proto.h
+include/libmove3d/p3d/proto/p3d_rlg_proto.h
+include/libmove3d/p3d/proto/p3d_rw_env_proto.h
+include/libmove3d/p3d/proto/p3d_rw_jnt_proto.h
+include/libmove3d/p3d/proto/p3d_rw_scenario_proto.h
+include/libmove3d/p3d/proto/p3d_rw_traj_proto.h
+include/libmove3d/p3d/proto/p3d_rw_util_proto.h
+include/libmove3d/p3d/proto/p3d_set_proto.h
+include/libmove3d/p3d/proto/p3d_setpos_proto.h
+include/libmove3d/p3d/proto/polyhedre_proto.h
+include/libmove3d/planner/Diffusion/proto/Diffusion_proto.h
+include/libmove3d/planner/Diffusion/proto/p3d_Diffusion_proto.h
+include/libmove3d/planner/Diffusion/proto/p3d_DynamicDomain_proto.h
+include/libmove3d/planner/Diffusion/proto/p3d_ExpansionDirection_proto.h
+include/libmove3d/planner/Diffusion/proto/p3d_ExpansionNode_proto.h
+include/libmove3d/planner/Diffusion/proto/p3d_ExpansionProcess_proto.h
+include/libmove3d/planner/Diffusion/proto/p3d_Frames_proto.h
+include/libmove3d/planner/Diffusion/proto/p3d_ManhatExpand_proto.h
+include/libmove3d/planner/Diffusion/proto/p3d_Shell_proto.h
+include/libmove3d/planner/Diffusion/proto/p3d_SpaceCost_proto.h
+include/libmove3d/planner/astar/proto/astar_proto.h
+include/libmove3d/planner/astar/proto/p3d_astar_proto.h
+include/libmove3d/planner/astar/proto/p3d_defaultGraph_proto.h
+include/libmove3d/planner/astar/proto/p3d_graphSearch_proto.h
+include/libmove3d/planner/astar/proto/p3d_mgGraph_proto.h
+include/libmove3d/planner/dfs/include/p3d_dfs.h
+include/libmove3d/planner/dfs/include/p3d_dfsDefaultGraph.h
+include/libmove3d/planner/dfs/include/p3d_dfsMgGraph.h
+include/libmove3d/planner/dfs/proto/dfs_proto.h
+include/libmove3d/planner/dpg/proto/DpgCell.h
+include/libmove3d/planner/dpg/proto/DpgCell.old.h
+include/libmove3d/planner/dpg/proto/DpgGrid.h
+include/libmove3d/planner/dpg/proto/DpgGrid.old.h
+include/libmove3d/planner/dpg/proto/p3d_chanEnv_proto.h
+include/libmove3d/planner/proto/p3d_DPG_proto.h
+include/libmove3d/planner/proto/p3d_NodeAndCompTools_proto.h
+include/libmove3d/planner/proto/p3d_NodeWeight_proto.h
+include/libmove3d/planner/proto/p3d_SelectedDistConfig_proto.h
+include/libmove3d/planner/proto/p3d_astar_proto.h
+include/libmove3d/planner/proto/p3d_elastic_proto.h
+include/libmove3d/planner/proto/p3d_graph_api_proto.h
+include/libmove3d/planner/proto/p3d_graph_in_grid_proto.h
+include/libmove3d/planner/proto/p3d_graph_proto.h
+include/libmove3d/planner/proto/p3d_graph_proto.multiFail.h
+include/libmove3d/planner/proto/p3d_graph_quality_proto.h
+include/libmove3d/planner/proto/p3d_graph_utils_proto.h
+include/libmove3d/planner/proto/p3d_graph_utils_proto.multiFail.h
+include/libmove3d/planner/proto/p3d_hriCost_proto.h
+include/libmove3d/planner/proto/p3d_multiGraph_proto.h
+include/libmove3d/planner/proto/p3d_optim_proto.h
+include/libmove3d/planner/proto/p3d_potential_proto.h
+include/libmove3d/planner/proto/p3d_rrt_proto.h
+include/libmove3d/planner/proto/p3d_sample_proto.h
+include/libmove3d/planner/proto/p3d_set_param_proto.h
+include/libmove3d/planner/proto/p3d_softMotion_traj_proto.h
+include/libmove3d/planner/proto/p3d_trajectory_proto.h
+include/libmove3d/planner/proto/planner_proto.h
+include/libmove3d/planner/rwGraph/proto/p3d_readDefaultGraph_proto.h
+include/libmove3d/planner/rwGraph/proto/p3d_readMultiGraph_proto.h
+include/libmove3d/planner/rwGraph/proto/p3d_rwXmlGraph_proto.h
+include/libmove3d/planner/rwGraph/proto/p3d_rw_graph_proto.h
+include/libmove3d/planner/rwGraph/proto/p3d_writeDefaultGraph_proto.h
+include/libmove3d/planner/rwGraph/proto/p3d_writeMultiGraph_proto.h
+include/libmove3d/planner/rwGraph/proto/rwGraph_proto.h
+include/libmove3d/userappli/proto/FORMuser_appli_proto.h
+include/libmove3d/userappli/proto/FORMuser_appli_proto.h.bak260309
+include/libmove3d/userappli/proto/userappli_proto.h
+include/libmove3d/userappli/proto/userappli_proto.h.bak260309
+include/libmove3d/util/CppApi/MultiRun.hpp
+include/libmove3d/util/CppApi/SaveContext.hpp
+include/libmove3d/util/CppApi/StatCostStructure.hpp
+include/libmove3d/util/CppApi/Statistics.hpp
+include/libmove3d/util/CppApi/testModel.hpp
+include/libmove3d/util/proto/basic_alloc_proto.h
+include/libmove3d/util/proto/dyna_list_proto.h
+include/libmove3d/util/proto/ebt_proto.h
+include/libmove3d/util/proto/gnuplot_proto.h
+include/libmove3d/util/proto/p3d_angle_proto.h
+include/libmove3d/util/proto/stat_proto.h
+include/libmove3d/util/proto/string_util_proto.h
+include/libmove3d/util/proto/time_proto.h
+include/libmove3d/util/proto/util_proto.h
+include/libmove3d/util/vector3d.h
+lib/libmove3d.so
+lib/pkgconfig/libmove3d.pc
diff --git a/libmove3d/depend.mk b/libmove3d/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..29746b3900bc9e8b884e9278fc0bdd44b9bc1111
--- /dev/null
+++ b/libmove3d/depend.mk
@@ -0,0 +1,27 @@
+## robotpkg depend.mk for: path/libmove3d
+# Created: Severin Lemaignan on Fri, 11 Feb 2011
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+LIBMOVE3D_DEPEND_MK:= ${LIBMOVE3D_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= libmove3d
+endif
+
+ifeq (+,$(LIBMOVE3D_DEPEND_MK)) # ----------------------------------
+
+PREFER.libmove3d?= robotpkg
+
+SYSTEM_SEARCH.libmove3d=\
+ include/libmove3d/include/move3d.h \
+ lib/libmove3d.so
+
+DEPEND_USE+= libmove3d
+
+DEPEND_ABI.libmove3d?=libmove3d>=3.9
+DEPEND_DIR.libmove3d?=../../wip/libmove3d
+
+endif # LIBMOVE3D_DEPEND_MK ----------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/libmove3d/distinfo b/libmove3d/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..2fb7c37fd77ac4ae844858e62143587c0c6470a2
--- /dev/null
+++ b/libmove3d/distinfo
@@ -0,0 +1,3 @@
+SHA1 (libmove3d-3.9.1.tar.gz) = 9f41852677184f86b5c476ea64dbd34d0200a606
+RMD160 (libmove3d-3.9.1.tar.gz) = 646347f56ae155c53d581968d5cde976e7ddf0e1
+Size (libmove3d-3.9.1.tar.gz) = 5405692 bytes