-*- outline -*-

New in X.Y, XXXX-YY-ZZ:
* FIXME

New in 3.0, 2009-11-15:
* Add OpenHRP-3 compatibility.
* Reorganize package to increase modularity.

New in 2.1, 2007-07-14:
* Now compatible with different linear algebra libraries through an
  abstraction layer.
* Add a new untested analytical method based on Morisawa.
  tested.