This application compiles and runs only on SGI machines running IRIX 6.5. 

The major files that are being used are 

main.C -- which interfaces with the C2, and performs the rendering of the tree,
          path, and also does the animation.


RRT.C -- This is the base class for a holonomic and non holonomic RRT. The holonomic
	 case (HRRT.C) is not being implemented here, but was used extensively 
	 while testing and in the initial stages.


NHRRT.C -- This is the Non-Holonomic case of the RRT, and is specific to the problem
	   It contains the algorithm to check for the result of firing each, a combo
	   or no thrusters. It integrates the state equation, taking into account the 
	   peculiarities of the flow field to get the velocities 
	   and the final position every time a thruster configuration is fired. It
	   takes in the obstacles and the start and destination point, as well as the flow 
	   field. Collision detection and boundary checks are also performed for each 
	   iteration.


Other files not submitted as links -- see source code archive available as a zipped file

interaction.C 
interaction.h
load.image.c