************************************************
*                                              *
*      Lightweight Motion Planning Library     *
*                                              *
*                 Version 1.1                  *
*                                              *
************************************************

Contents
I. Package Contents
II. Usage
III. Contact Information
IV. Version History
V. License

**** I. Package Contents ****

MotionPlanning/ - motion planning files.
misc/ - miscellaneous support files, including math, graphs, algorithms, etc.
example/ - a sample project that tests a motion planner in a 2d C-space.
COPYING - LGPL copyright notice.
doxygen.conf - Doxygen configuration file.
LMPL.vcproj - Visual studio project file.
Makefile* - GNU Make configuration files.
readme.txt - this readme.
mcr_readme.txt - a readme for setting up minimum constraint removal (MCR)
    problems.

**** II. Usage ****

LMPL source files are designed to be incorporated directly into your project,
or to be built as a shared library.

A typical user of LMPL will subclass the CSpace class and then use a
MotionPlannerFactory to access a motion planner for that space.
Basic multi-modal planning support is currently supported through the
MultiModalCSpace class and the classes defined in MultiModalPlanner.

Using Visual Studio
A Visual Studio project file, LMPL.vcproj, is included with the distribution.
Add this to your solution as needed.  The Doxygen tool can be used to build
documentation, using the doxygen.conf configuration file.

Using GNU make

- 'make' will compile the object files and build a test program in the
  'example' subdirectory. 
- 'make lib' will build the object files into a shared library named 'LMPL.a'.
- If you have the Doxygen tool installed on your system, documentation can be
generated by running 'make docs'.
- 'make all' will build the object files, example, library file, and docs.

**** III. Contact Information ****

Authors: 
Changsi An (anch@indiana.edu)
Kris Hauser (hauserk@indiana.edu)

Web: http://www.indiana.edu/~motion


**** IV. Version History ****

v1.0 - 2/20/2010 - Initial release.
v1.1 - 5/9/2012 - A new planner for the minimum constraint removal (MCR)
    problem has been added to LMPL.

**** V. License ****

Copyright (c) 2012, the Trustees of Indiana University
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * 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.
    * Neither the name of Indiana University nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE TRUSTEES OF INDIANA UNIVERSITY ''AS IS'' AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE TRUSTEES OF INDIANA UNIVERSITY BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.