README for RoboSim

1.) To start this Java application, you must type in the command
    'java RoboPackII.Main'. 
    Before that, you have to set the 'LD_LIBRARY_PATH' to the base 
    directory of RoboSim (that should be 'RoboInter'). 

2.) Make sure that 'TestFiles' is in the same directory like 'RoboPackII'. 
    Otherwise the 'about.doc' and 'help.doc' texts are not found.

3.) The 'TestFiles' directory contains some example programs which can be
    loaded with the 'Open File' command while using this program.

4.) To compile the 'C-Code', you have to do as follows:
	- If you're Java software is not installed in 'usr/local/java',
	  you have to change the path in the 'RealRobot/moverobo.c' file, 
	  first column.
	- 'gcc -G -I /usr/local/java/include 
	          -I /usr/local/java/include/solaris 
	          -o libmoverobo.so RealRobot/moverobo.c  
	           RealRobot_SerialOut.c' . If you do not have the 'gcc'
	  compiler, use your C-compiler instead. If your Java software has 
	  got another home directory, you must change the paths behing '-I'.
	- Set you 'LD_LIBRARY_PATH ' to the path of 'RoboInter'.

    If you want to adapt the C-Code to new requirements, change the Java and
    the C-Code and then do as follows:
	-Go to the 'RoboInter' directory.
	-javac RealRobot/RealRobotControl.java
	-javac RealRobot/SerialOut.java
	-javah RealRobot.SerialOut
	-javah -stubs RealRobot.SerialOut
	-Compile the C-Code as explained above.
	
5.) If you are controlling the existing robot, the inverse cinematic does not
    work.

6.) A postscript-version of the documentation to this program is 
    'documentation.ps'.

Good luck and enjoy this program!

