Draft of kin&dyn design on-line

I've put my draft design of the class libraries for kinematics and
dynamics on-line on the orocos website:
 <http://www.orocos.org/documents/kindyn.pdf>
Comments more than welcome!

The design is much broader than what Orocos needs in the short term,
but my goal was explicitly to design for scalability :-)

Herman

-- 
K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://www.mech.kuleuven.ac.be/~bruyninc>  +32 16 322480