If you have any questions or suggestions for improvements, of
course, feel free to aks. The biggest changes are as follows,

* Added dxflib (http://dxflib.sourceforge.net/) for importing
autocad dxf files into the world grid.
* eliminated Global_Map_Spec.
* added extra byte to the OGrid (occupancy grid) structure (layer)-
-the semantics are still in work.
* eliminated one level of the grid and setup the grid as a static
structure in the Mapping class--this
should enable further streamlining as the grids are all
preallocated by the library now.
* streamlined the opening of the scene grid into the robot or
world (simulator) grid and also the
import of DXF into the robot or world grid.
* added ability to store an occupancy grid into persistent memory
(battery backed RAM). This requires setting
aside of 41K of RAM unfortunately--possibly can be smaller, but
I do not want to change size every time
grid size changes (and I haven't needed all that memory yet
believe it or not).
* IR averages 32 readings instead of taking least value of 32
readings...has less dramatic swings
* added log and checkpoint class/structure to enable dynamic
recording of obstacle discovery to
allow the recreation of how a map was generated.

Derek