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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Copyright  (C)  2011  Erwin Aertbelien  <Erwin dot Aertbelien at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+/**
+ * \mainpage KDL
+ *
+ * This is the API reference of the
+ * <a href="http://www.orocos.org/kdl">Kinematics and Dynamics
+ * Library</a> (KDL), a sub-project of <a
+ * href="http://www.orocos.org">Orocos</a>, but that can be used
+ * independently of Orocos. KDL offers different kinds of
+ * functionality, grouped in the following  Modules:
+ * - \subpage geomprim
+ * - \ref KinematicFamily : functionality to build kinematic chains and access their kinematic and dynamic properties, such as e.g. Forward and Inverse kinematics and dynamics.
+ * - \ref Motion : functionality to specify motion trajectories of frames and kinematic chains, such as e.g. Trapezoidal Velocity profiles.
+ * - \ref KDLTK : the interface code to integrate KDL into the Orocos <a href="http://www.orocos.org/rtt/">Real-Time Toolkit</a> (RTT).
+ *
+ *
+**/
+/**
+ * \page geomprim Geometric Primitives
+ * \section Introduction 
+ * Geometric primitives are represented by the following classes.
+ * - KDL::Vector
+ * - KDL::Rotation
+ * - KDL::Frame
+ * - KDL::Twist
+ * - KDL::Wrench
+ *
+ * \par Twist and Wrench transformations
+ * 3 different types of transformations do exist for the twists
+ * and wrenches.
+ *
+ * \verbatim
+ *      1) Frame * Twist or Frame * Wrench :
+ *              this transforms both the velocity/force reference point
+ *             and the basis to which the twist/wrench are expressed.
+ *      2) Rotation * Twist or Rotation * Wrench :
+ *              this transforms the basis to which the twist/wrench are
+ *              expressed, but leaves the reference point intact.
+ *      3) Twist.RefPoint(v_base_AB) or Wrench.RefPoint(v_base_AB)
+ *              this transforms only the reference point. v is expressed
+ *              in the same base as the twist/wrench and points from the
+ *              old reference point to the new reference point.
+ * \endverbatim
+ *
+ *\warning
+ *       Efficienty can be improved by writing p2 = A*(B*(C*p1))) instead of
+ *          p2=A*B*C*p1
+ * 
+ * \par PROPOSED NAMING CONVENTION FOR FRAME-like OBJECTS
+ *
+ * \verbatim
+ *      A naming convention of objects of the type defined in this file :
+ *          (1) Frame : F...
+ *              Rotation : R ...
+ *          (2) Twist    : T ...
+ *              Wrench   : W ...
+ *              Vector   : V ...
+ *      This prefix is followed by :
+ *      for category (1) :
+ *          F_A_B : w.r.t. frame A, frame B expressed
+ *          ( each column of F_A_B corresponds to an axis of B,
+ *            expressed w.r.t. frame A )
+ *          in mathematical convention :
+ *                   A
+ *         F_A_B ==    F
+ *                   B
+ *
+ *      for category (2) :
+ *          V_B   : a vector expressed w.r.t. frame B
+ *
+ *      This can also be prepended by a name :
+ *          e.g. : temporaryV_B
+ *
+ *      With this convention one can write :
+ *
+ *      F_A_B = F_B_A.Inverse();
+ *      F_A_C = F_A_B * F_B_C;
+ *      V_B   = F_B_C * V_C;    // both translation and rotation
+ *      V_B   = R_B_C * V_C;    // only rotation
+ * \endverbatim
+ *
+ * \par CONVENTIONS FOR WHEN USED WITH ROBOTS :
+ *
+ * \verbatim
+ *       world : represents the frame ([1 0 0,0 1 0,0 0 1],[0 0 0]')
+ *       mp    : represents mounting plate of a robot
+ *               (i.e. everything before MP is constructed by robot manufacturer
+ *                    everything after MP is tool )
+ *       tf    : represents task frame of a robot
+ *               (i.e. frame in which motion and force control is expressed)
+ *       sf    : represents sensor frame of a robot
+ *               (i.e. frame at which the forces measured by the force sensor
+ *               are expressed )
+ *
+ *          Frame F_world_mp=...;
+ *          Frame F_mp_sf(..)
+ *          Frame F_mp_tf(,.)
+ *
+ *          Wrench are measured in sensor frame SF, so one could write :
+ *                Wrench_tf = F_mp_tf.Inverse()* ( F_mp_sf * Wrench_sf );
+ * \endverbatim
+ *
+ * \par CONVENTIONS REGARDING UNITS :
+ *      Typically we use the standard S.I. units:  N, m, sec. 
+ *
+ */
+
+