RE: API discussion...

[...]
> ----> The motion generator is a function that the user provides, thus
> anything can be coded. In the majority of cases the following suffices.
The
> generator generates consecutive geometrical trajectory points one at a
time
> (e.g. like a linear interpolator). Thus it knows the endpoint not from the
> terminal condition, but from the geometrical description. The termination
> function delivers extra information from sensors for a premature stop. In
> rarer cases the end-point might not be known. 

I give these "rarer cases" and explicit name: "Move". While the case
you describe above is our "MoveTo" semantics.

~~~~~~> If you want to have two names it is OK.
Cezary