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+# C++ library for Task Control of Unmanned Aerial Manipulators (UAM)
+
+This library provides the robot kinematics as well as a framework to compute several task errors and Jacobians. 
+
+### Software dependencies
+
+- [Boost](http://www.boost.org/) (already installed in most Ubuntu LTS)
+  
+- [Orocos - KDL](http://www.orocos.org/kdl)
+
+- [Eigen 3](eigen.tuxfamily.org)
+
+### Installation
+
+- Clone the repository: `git clone https://gitlab.iri.upc.edu/asantamaria/uam_task_ctrl.git`
+- Install:	`cd uam_task_ctrl/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make -j $(nproc) && sudo make install`
+
+### Example of usage
+
+- Run `/bin/./uam_task_ctrl_test`.
+
+- Checkout [kinton_arm_task_priority_control](https://gitlab.iri.upc.edu/asantamaria/kinton_arm_task_priority_control) project to use this library within ROS framework.
+
+### Support material and multimedia
+
+Please, visit: [**asantamaria's web page**](http://www.iri.upc.edu/people/asantamaria)
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-Copyright (C) 
-Author asantamaria (asantamaria@iri.upc.edu)
-All rights reserved.
-
-This file is part of uam_task_ctrl library
-uam_task_ctrl library is free software: you can redistribute it and/or modify
-it under the terms of the GNU Lesser General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>
-
-