@TechReport{TR049,
  author =	 "Thomas Melzer",
  institution =	 "PRIP, TU Wien",
  number =	 "PRIP-TR-049",
  title =	 "{TROL} {TU V}ienna {R}obot {C}ontrol Library",
  year =	 "1998",
  url =		 "https://www.prip.tuwien.ac.at/pripfiles/trs/tr-49.pdf",
  abstract =	 "TROL is a C-function library which gives the
                  programmer access to virtually all kinematic
                  functions of a CRS A465 industrial robot by
                  providing him with a comfortable, high level
                  Applications Programmers Interface. This document
                  describes how to install, use and extend the
                  library. Furthermore, it gives detailed insight in
                  the design and implementation of TROL. ",
}