Pertaining to [http://www.orocos.org/ Orocos]: Open Realtime Control Services/Open Robot Control Software

Depends on: Std C++ (libstdc++5), [http://www.boost.org/ Boost], Xerces 2.1

Integration between RTAI and TAO and ACE is also part of the ongoing work towards a hard realtime distributed control infastructure based on CORBA.

Control Kernel [http://people.mech.kuleuven.ac.be/~psoetens/orocos-packages/orocos-control-kernel.html design and programming interface].
[http://www.orocos.org/documents/motconframe.pdf Motion Control Framework]: The design of a generic kernel.


Many on the documents can be accessed from the download page http://www.orocos.org/download.php