CL-SAPHIRA is a Common Lisp API for Kurt Konolige's Saphira robot control system. More information on Saphira can be otained from www.activmedia.com, the web site of AcivMedia, Inc. ActivMedia, Inc is a company that manufactures Pioneer robots. It also owns and distributes Saphira.
CL-SAPHIRA includes both Lisp and CLOS API's to Saphira. CL-SAPHIRA allows a pioneer robot or a simulator to be controlled from Lisp. CL-SAPHIRA uses Allegro Common Lisp's foreign function interface to interact with Saphira and the robot.
A quick readme can be downloaded from here.
The zip archive with the source code and documentation can be downloaded from here.
Back to Free Software Index
Kulyukin's Home Page