LICENSE.txt

  ARIA 
  MobileRobots Advanced Robotics Interface for Applications
  
  License

Note that this license applies to programs which use ARIA
via both dynamic and static linking or loading, including
dynamic loading and linking at runtime (e.g. using ArModule,
Windows LoadLibrary, Unix dlopen, or similar.  In other words
if you have a plugin which uses ARIA in any way that plugin 
must also be distributed under this license.)

(Also note that the text of the GPL below is copyrighted by the 
Free Software Foundation, but that the instance of code that it
refers to (ARIA) is copyrighted by ActivMedia Robotics 
LLC and MobileRobots Inc.)

-----------------------------------------------------------------


		    GNU GENERAL PUBLIC LICENSE
		       Version 2, June 1991

 Copyright (C) 1989, 1991 Free Software Foundation, Inc.
         59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 Everyone is permitted to copy and distribute verbatim copies
 of this license document, but changing it is not allowed.

			    Preamble

  The licenses for most software are designed to take away
your freedom to share and change it.  By contrast, the GNU
General Public License is intended to guarantee your
freedom to share and change free software--to make sure the
software is free for all its users.  This General Public
License applies to most of the Free Software Foundation's
software and to any other program whose authors commit to
using it.  (Some other Free Software Foundation software is
covered by the GNU Library General Public License instead.)  
You can apply it to your programs, too.

  When we speak of free software, we are referring to
freedom, not price.  Our General Public Licenses are
designed to make sure that you have the freedom to
distribute copies of free software (and charge for this
service if you wish), that you receive source code or can
get it if you want it, that you can change the software or
use pieces of it in new free programs; and that you know
you can do these things.

  To protect your rights, we need to make restrictions that
forbid anyone to deny you these rights or to ask you to
surrender the rights. These restrictions translate to
certain responsibilities for you if you distribute copies
of the software, or if you modify it.

  For example, if you distribute copies of such a program,
whether gratis or for a fee, you must give the recipients
all the rights that you have.  You must make sure that
they, too, receive or can get the source code.  And you
must show them these terms so they know their rights.

  We protect your rights with two steps: (1) copyright the
software, and (2) offer you this license which gives you
legal permission to copy, distribute and/or modify the
software.

  Also, for each author's protection and ours, we want to
make certain that everyone understands that there is no
warranty for this free software.  If the software is
modified by someone else and passed on, we want its
recipients to know that what they have is not the original,
so that any problems introduced by others will not reflect
on the original authors' reputations.

  Finally, any free program is threatened constantly by
software patents.  We wish to avoid the danger that
redistributors of a free program will individually obtain
patent licenses, in effect making the program proprietary.  
To prevent this, we have made it clear that any patent must
be licensed for everyone's free use or not licensed at all.

  The precise terms and conditions for copying,
distribution and modification follow. 

		    GNU GENERAL PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION

  0. This License applies to any program or other work
which contains a notice placed by the copyright holder
saying it may be distributed under the terms of this
General Public License.  The "Program", below, refers to
any such program or work, and a "work based on the Program"
means either the Program or any derivative work under
copyright law: that is to say, a work containing the
Program or a portion of it, either verbatim or with
modifications and/or translated into another language.  
(Hereinafter, translation is included without limitation in
the term "modification".)  Each licensee is addressed as
"you".

Activities other than copying, distribution and
modification are not covered by this License; they are
outside its scope.  The act of running the Program is not
restricted, and the output from the Program is covered only
if its contents constitute a work based on the Program
(independent of having been made by running the Program).
Whether that is true depends on what the Program does.

  1. You may copy and distribute verbatim copies of the
Program's source code as you receive it, in any medium,
provided that you conspicuously and appropriately publish
on each copy an appropriate copyright notice and disclaimer
of warranty; keep intact all the notices that refer to this
License and to the absence of any warranty; and give any
other recipients of the Program a copy of this License
along with the Program.

You may charge a fee for the physical act of transferring a
copy, and you may at your option offer warranty protection
in exchange for a fee.

  2. You may modify your copy or copies of the Program or
any portion of it, thus forming a work based on the
Program, and copy and distribute such modifications or work
under the terms of Section 1 above, provided that you also
meet all of these conditions:

    a) You must cause the modified files to carry prominent
    notices stating that you changed the files and the date of
    any change.

    b) You must cause any work that you distribute or
    publish, that in whole or in part contains or is derived 
    from the Program or any part thereof, to be licensed as a 
    whole at no charge to all third parties under the terms of
    this License.

    c) If the modified program normally reads commands 
    interactively  when run, you must cause it, when started 
    running for such interactive use in the most ordinary way,
    to print or display an announcement including an 
    appropriate copyright notice and a notice that there is no
    warranty (or else, saying that you provide a warranty) and
    that users may redistribute the program under these 
    conditions, and telling the user how to view a copy of 
    this License.  (Exception: if the Program itself is 
    interactive but does not normally print such an 
    announcement, your work based on the Program is not
    required to print an announcement.) These requirements
apply to the modified work as a whole.  If identifiable
sections of that work are not derived from the Program, and
can be reasonably considered independent and separate works
in themselves, then this License, and its terms, do not
apply to those sections when you distribute them as
separate works.  But when you distribute the same sections
as part of a whole which is a work based on the Program,
the distribution of the whole must be on the terms of this
License, whose permissions for other licensees extend to
the entire whole, and thus to each and every part
regardless of who wrote it.

Thus, it is not the intent of this section to claim rights
or contest your rights to work written entirely by you;
rather, the intent is to exercise the right to control the
distribution of derivative or collective works based on the
Program.

In addition, mere aggregation of another work not based on
the Program with the Program (or with a work based on the
Program) on a volume of a storage or distribution medium
does not bring the other work under the scope of this
License.

  3. You may copy and distribute the Program (or a work
based on it, under Section 2) in object code or executable
form under the terms of Sections 1 and 2 above provided
that you also do one of the following:

    a) Accompany it with the complete corresponding 
    machine-readable source code, which must be distributed 
    under the terms of Sections 1 and 2 above on a medium 
    customarily used for software interchange; or,

    b) Accompany it with a written offer, valid for at least 
    three years, to give any third party, for a charge no more
    than your cost of physically performing source
    distribution, a complete machine-readable copy of the
    corresponding source code, to be distributed under the
    terms of Sections 1 and 2 above on a medium customarily
    used for software interchange; or,

    c) Accompany it with the information you received as to
    the offer to distribute corresponding source code.  
    (This alternative is allowed only for noncommercial
    distribution and only if you received the program in
    object code or executable form with such an offer, in
    accord with Subsection b above.)

The source code for a work means the preferred form of the
work for making modifications to it.  For an executable
work, complete source code means all the source code for
all modules it contains, plus any associated interface
definition files, plus the scripts used to control
compilation and installation of the executable.  However,
as a special exception, the source code distributed need
not include anything that is normally distributed (in
either source or binary form) with the major components
(compiler, kernel, and so on) of the operating system on
which the executable runs, unless that component itself
accompanies the executable.

If distribution of executable or object code is made by
offering access to copy from a designated place, then
offering equivalent access to copy the source code from the
same place counts as distribution of the source code, even
though third parties are not compelled to copy the source
along with the object code. 



  4. You may not copy, modify, sublicense, or distribute
the Program except as expressly provided under this
License.  Any attempt otherwise to copy, modify, sublicense
or distribute the Program is void, and will automatically
terminate your rights under this License. However, parties
who have received copies, or rights, from you under this
License will not have their licenses terminated so long as
such parties remain in full compliance.

  5. You are not required to accept this License, since you
have not signed it.  However, nothing else grants you
permission to modify or distribute the Program or its
derivative works.  These actions are prohibited by law if
you do not accept this License.  Therefore, by modifying or
distributing the Program (or any work based on the
Program), you indicate your acceptance of this License to
do so, and all its terms and conditions for copying,
distributing or modifying the Program or works based on it.

  6. Each time you redistribute the Program (or any work
based on the Program), the recipient automatically receives
a license from the original licensor to copy, distribute or
modify the Program subject to these terms and conditions.  
You may not impose any further restrictions on the
recipients' exercise of the rights granted herein. You are
not responsible for enforcing compliance by third parties
to this License.

  7. If, as a consequence of a court judgment or allegation
of patent infringement or for any other reason (not limited
to patent issues), conditions are imposed on you (whether
by court order, agreement or otherwise) that contradict the
conditions of this License, they do not excuse you from the
conditions of this License.  If you cannot distribute so as
to satisfy simultaneously your obligations under this
License and any other pertinent obligations, then as a
consequence you may not distribute the Program at all.  
For example, if a patent license would not permit
royalty-free redistribution of the Program by all those who
receive copies directly or indirectly through you, then the
only way you could satisfy both it and this License would
be to refrain entirely from distribution of the Program.

If any portion of this section is held invalid or
unenforceable under any particular circumstance, the
balance of the section is intended to apply and the section
as a whole is intended to apply in other circumstances.

It is not the purpose of this section to induce you to
infringe any patents or other property right claims or to
contest validity of any such claims; this section has the
sole purpose of protecting the integrity of the free
software distribution system, which is implemented by
public license practices.  Many people have made generous
contributions to the wide range of software distributed
through that system in reliance on consistent application
of that system; it is up to the author/donor to decide if
he or she is willing to distribute software through any
other system and a licensee cannot impose that choice.

This section is intended to make thoroughly clear what is
believed to be a consequence of the rest of this License.



  8. If the distribution and/or use of the Program is
restricted in certain countries either by patents or by
copyrighted interfaces, the original copyright holder who
places the Program under this License may add an explicit
geographical distribution limitation excluding those
countries, so that distribution is permitted only in or
among countries not thus excluded.  In such case, this
License incorporates the limitation as if written in the
body of this License.

  9. The Free Software Foundation may publish revised
and/or new versions of the General Public License from time
to time.  Such new versions will be similar in spirit to
the present version, but may differ in detail to address
new problems or concerns.

Each version is given a distinguishing version number.  If
the Program specifies a version number of this License
which applies to it and "any later version", you have the
option of following the terms and conditions either of that
version or of any later version published by the Free
Software Foundation.  If the Program does not specify a
version number of this License, you may choose any version
ever published by the Free Software Foundation.

  10. If you wish to incorporate parts of the Program into
other free programs whose distribution conditions are
different, write to the author to ask for permission.  For
software which is copyrighted by the Free Software
Foundation, write to the Free Software Foundation; we
sometimes make exceptions for this.  Our decision will be
guided by the two goals of preserving the free status of
all derivatives of our free software and of promoting the
sharing and reuse of software generally.

			    NO WARRANTY

  11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE
IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING
THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE
PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER
EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND
PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE PROGRAM
PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY
SERVICING, REPAIR OR CORRECTION.

  12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR
AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY
OTHER PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE THE PROGRAM
AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING
ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES
ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM
(INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY
OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS
BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

		     END OF TERMS AND CONDITIONS



            How to Apply These Terms to Your New Programs

  If you develop a new program, and you want it to be of
the greatest possible use to the public, the best way to
achieve this is to make it free software which everyone can
redistribute and change under these terms.

  To do so, attach the following notices to the program.  
It is safest to attach them to the start of each source
file to most effectively convey the exclusion of warranty;
and each file should have at least the "copyright" line and
a pointer to where the full notice is found.

    <one line to give the program's name and a brief idea 
of what it does.>
    Copyright (C) <year>  <name of author>

    This program is free software; you can redistribute it
    and/or modify it under the terms of the GNU General
    Public License as published by the Free Software
    Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program 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 General Public License
    for more details.  You should have received a copy of
    the GNU General Public License along with this program;
    if not, write to the Free Software Foundation, Inc., 59
    Temple Place, Suite 330, Boston, MA 02111-1307 USA


Also add information on how to contact you by electronic
and paper mail.

If the program is interactive, make it output a short
notice like this when it starts in an interactive mode:

    Gnomovision version 69, Copyright (C) year name of 
    author Gnomovision comes with ABSOLUTELY NO WARRANTY;
    for details type `show w'.  This is free software, and
    you are welcome to redistribute it under certain
    conditions; type `show c' for details.

The hypothetical commands `show w' and `show c' should show
the appropriate parts of the General Public License.  Of
course, the commands you use may be called something other
than `show w' and `show c'; they could even be mouse-clicks
or menu items--whatever suits your program.

You should also get your employer (if you work as a
programmer) or your school, if any, to sign a "copyright
disclaimer" for the program, if necessary.  Here is a
sample; alter the names:

  Yoyodyne, Inc., hereby disclaims all copyright interest 
  in the program 'Gnomovision' (which makes passes at
  compilers) written by James Hacker.

  <signature of Ty Coon>, 1 April 1989
  Ty Coon, President of Vice

This General Public License does not permit incorporating
your program into proprietary programs.  If your program is
a subroutine library, you may consider it more useful to
permit linking proprietary applications with the library.  
If this is what you want to do, use the GNU Library General
Public License instead of this License.