Updated document on kin&dyn API...

I've put an updated version of the kinematics and dynamics design
document on the Orocos webpage: 

 <http://www.orocos.org/kindyn-doc.html>

We really need to discuss APIs and coordinate representations.
So, even more than ever, feedback is very welcome!

(Not that I have any hope of getting feedback... This is the "open
 source Cathedral" after all, isn't it. And even "release early"
doesn't seem to generate much interest :-( )

What I would like to discuss first are things like:
- naming of classes
- separation of functionality in classes
- API nomenclature and approach
- the coordinate representations, and the names we give to them
- the way we model kinematic structures, and the names and contents of
  the "kinematic families" I define in the document

Herman

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