Initial commit

30 files changed, 4655 insertions, 0 deletions

diff --git a/.dir-locals.el b/.dir-locals.el
new file mode 100644
index 0000000..d7ec655
--- /dev/null
+++ b/.dir-locals.el
@@ -0,0 +1,33 @@
+;; .dir-locals.el -- directory-local variables for the car plugin
+;; Copyright (C) 2013  Galois, Inc.
+;;
+;; This library is free software: you can redistribute it and/or modify it under
+;; the terms of the GNU General Public License as published by the Free Software
+;; Foundation, either version 3 of the License, or (at your option) any later
+;; version.
+;;
+;; This library 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 General Public License for more
+;; details.
+;;
+;; You should have received a copy of the GNU General Public License along with
+;; this library.  If not, see <http://www.gnu.org/licenses/>.
+;;
+;; To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+;; or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+;; Oregon, 97204-1622.
+
+
+((nil . ((fill-column . 80)))
+ (autoconf-mode . ((indent-tabs-mode . nil)))
+ (makefile-automake-mode . ((indent-tabs-mode . t)))
+ (c++-mode . ((c-file-style . "bsd")
+	      (c-basic-offset . 4)
+              (indent-tabs-mode . nil)))
+ ;; This is not a polyglot library, so open .h files in C++ mode.
+ (c-mode . ((mode . c++)
+            (c-file-style . "bsd")
+            (c-basic-offset . 4)
+            (indent-tabs-mode . nil)))
+ (text-mode . ((indent-tabs-mode . nil))))
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..495866c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,50 @@
+# .gitignore for the V-REP automobile plugin                        -*- conf -*-
+
+# Editor backup files
+*~
+\#*
+.\#*
+
+# autoscan
+autoscan.log
+configure.scan
+
+# aclocal
+aclocal.m4
+autom4te.cache/
+m4/libtool.m4
+m4/lt*.m4
+
+# autoconf
+configure
+
+# autoheader
+config.h.in
+
+# libtoolize
+ltmain.sh
+
+# automake
+Makefile.in
+ar-lib
+config.guess
+config.sub
+depcomp
+install-sh
+missing
+
+# configure
+.deps/
+Makefile
+config.h
+config.log
+config.status
+libtool
+ppamltracer.pc
+stamp-*
+
+# make
+.libs/
+*.la
+*.lo
+*.o
diff --git a/COPYING b/COPYING
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/COPYING
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
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+ Everyone is permitted to copy and distribute verbatim copies
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+
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+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
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+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
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+  14. Revised Versions of this License.
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+  The Free Software Foundation may publish revised and/or new versions of
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+be similar in spirit to the present version, but may differ in detail to
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+  Each version is given a distinguishing version number.  If the
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+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
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+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
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+to choose that version for the Program.
+
+  Later license versions may give you additional or different
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+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
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+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
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+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
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+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU 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 General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
diff --git a/INSTALL b/INSTALL
new file mode 100644
index 0000000..6733fd6
--- /dev/null
+++ b/INSTALL
@@ -0,0 +1,319 @@
+Installation Instructions
+*************************
+
+Copyright (C) 1994-1996, 1999-2002, 2004-2011 Free Software Foundation, Inc.
+Copyright (C) 2013 Galois, Inc.
+
+Copying and distribution of this file, with or without modification, are
+permitted in any medium without royalty provided the copyright notice and this
+notice are preserved.  This file is offered as-is, without warranty of any kind.
+
+Basic Installation
+==================
+
+Briefly, the shell commands
+
+    export VREP=/path/to/vrep/installation
+    ./configure
+    make
+    make install
+
+should configure, build, and install this package.
+
+The `configure' shell script attempts to guess correct values for various
+system-dependent variables used during compilation.  It uses those values to
+create a `Makefile' in the top-level directory of the package, as well as the
+`src' subdirectory.  It also creates a `config.h' file containing
+system-dependent definitions.  Finally, it creates a shell script
+`config.status' that you can run in the future to recreate the current
+configuration, and a file `config.log' containing compiler output (useful mainly
+for debugging `configure').
+
+It can also use an optional file (typically called `config.cache' and enabled
+with `--cache-file=config.cache' or simply `-C') that saves the results of its
+tests to speed up reconfiguring.  Caching is disabled by default to prevent
+problems with accidental use of stale cache files.
+
+If you need to do unusual things to compile the package, please try to figure
+out how `configure' could check whether to do them, and mail diffs or
+instructions to the address given in the `README' so they can be considered for
+the next release.  If you are using the cache, and at some point `config.cache'
+contains results you don't want to keep, you may remove or edit it.
+
+The file `configure.ac' is used to create `configure' by a program called
+`autoconf'.  You need `configure.ac' if you want to change it or regenerate
+`configure' using a newer version of `autoconf'.
+
+The simplest way to compile this package is:
+
+  1. If you have not done so already, install V-REP and the Boost file system
+     library.
+
+  2. Export the environment variable `VREP' such that it points to the top-level
+     directory of your V-REP installation.
+
+  3. `cd' to the directory containing the package's source code and type
+     `./configure' to configure the package for your system.
+
+     Running `configure' might take a while.  While running, it prints
+     some messages telling which features it is checking for.
+
+  4. Type `make' to compile the package.
+
+  5. Type `make install' to install the programs and any data files and
+     documentation.
+
+  6. You can remove the program object files from the source code directory by
+     typing `make clean'.  To also remove the files that `configure' created (so
+     you can compile the package for a different kind of computer), type `make
+     distclean'.  There is also a `make maintainer-clean' target, but that is
+     intended mainly for the package's developers.  If you use it, you may have
+     to get all sorts of other programs in order to regenerate files that came
+     with the distribution.
+
+  7. You can also type `make uninstall' to remove the installed files again.
+
+Compilers and Options
+=====================
+
+Some systems require unusual options for compilation or linking that the
+`configure' script does not know about.  Run `./configure --help' for details on
+some of the pertinent environment variables.
+
+You can give `configure' initial values for configuration parameters by setting
+variables in the command line or in the environment.  Here is an example:
+
+     ./configure CC=c99 CFLAGS=-g LIBS=-lposix
+
+Compiling For Multiple Architectures
+====================================
+
+You can compile the package for more than one kind of computer at the same time,
+by placing the object files for each architecture in their own directory.  To do
+this, you can use GNU `make'.  `cd' to the directory where you want the object
+files and executables to go and run the `configure' script.  `configure'
+automatically checks for the source code in the directory that `configure' is in
+and in `..'.  This is known as a "VPATH" build.
+
+With a non-GNU `make', it is safer to compile the package for one architecture
+at a time in the source code directory.  After you have installed the package
+for one architecture, use `make distclean' before reconfiguring for another
+architecture.
+
+On Mac OS X 10.5 and later systems, you can create libraries and executables
+that work on multiple system types--known as "fat" or "universal" binaries--by
+specifying multiple `-arch' options to the compiler but only a single `-arch'
+option to the preprocessor.  Like this:
+
+     ./configure CC="gcc -arch i386 -arch x86_64 -arch ppc -arch ppc64" \
+                 CXX="g++ -arch i386 -arch x86_64 -arch ppc -arch ppc64" \
+                 CPP="gcc -E" CXXCPP="g++ -E"
+
+This is not guaranteed to produce working output in all cases, you may have to
+build one architecture at a time and combine the results using the `lipo' tool
+if you have problems.
+
+Installation Names
+==================
+
+By default, `make install' installs the package's libraries under
+`/usr/local/lib'.  You can specify an installation prefix other than
+`/usr/local' by giving `configure' the option `--prefix=PREFIX', where PREFIX
+must be an absolute file name.
+
+You can specify separate installation prefixes for architecture-specific files
+and architecture-independent files.  If you pass the option
+`--exec-prefix=PREFIX' to `configure', the package uses PREFIX as the prefix for
+installing programs and libraries.  Documentation and other data files still use
+the regular prefix.
+
+In addition, if you use an unusual directory layout you can give options like
+`--bindir=DIR' to specify different values for particular kinds of files.  Run
+`configure --help' for a list of the directories you can set and what kinds of
+files go in them.  In general, the default for these options is expressed in
+terms of `${prefix}', so that specifying just `--prefix' will affect all of the
+other directory specifications that were not explicitly provided.
+
+The most portable way to affect installation locations is to pass the correct
+locations to `configure'; however, many packages provide one or both of the
+following shortcuts of passing variable assignments to the `make install'
+command line to change installation locations without having to reconfigure or
+recompile.
+
+The first method involves providing an override variable for each affected
+directory.  For example, `make install prefix=/alternate/directory' will choose
+an alternate location for all directory configuration variables that were
+expressed in terms of `${prefix}'.  Any directories that were specified during
+`configure', but not in terms of `${prefix}', must each be overridden at install
+time for the entire installation to be relocated.  The approach of makefile
+variable overrides for each directory variable is required by the GNU Coding
+Standards, and ideally causes no recompilation.  However, some platforms have
+known limitations with the semantics of shared libraries that end up requiring
+recompilation when using this method, particularly noticeable in packages that
+use GNU Libtool.
+
+The second method involves providing the `DESTDIR' variable.  For example, `make
+install DESTDIR=/alternate/directory' will prepend `/alternate/directory' before
+all installation names.  The approach of `DESTDIR' overrides is not required by
+the GNU Coding Standards, and does not work on platforms that have drive
+letters.  On the other hand, it does better at avoiding recompilation issues,
+and works well even when some directory options were not specified in terms of
+`${prefix}' at `configure' time.
+
+Optional Features
+=================
+
+This package offers the ability to configure how verbose the execution of `make'
+will be.  For these packages, running `./configure --enable-silent-rules' sets
+the default to minimal output, which can be overridden with `make V=1'; while
+running `./configure --disable-silent-rules' sets the default to verbose, which
+can be overridden with `make V=0'.
+
+Particular systems
+==================
+
+On HP-UX, the default C compiler is not ANSI C compatible.  If GNU CC is not
+installed, it is recommended to use the following options in order to use an
+ANSI C compiler:
+
+     ./configure CC="cc -Ae -D_XOPEN_SOURCE=500"
+
+and if that doesn't work, install pre-built binaries of GCC for HP-UX.
+
+HP-UX `make' updates targets which have the same time stamps as their
+prerequisites, which makes it generally unusable when shipped generated files
+such as `configure' are involved.  Use GNU `make' instead.
+
+On OSF/1 a.k.a. Tru64, some versions of the default C compiler cannot parse its
+`<wchar.h>' header file.  The option `-nodtk' can be used as a workaround.  If
+GNU CC is not installed, it is therefore recommended to try
+
+     ./configure CC="cc"
+
+and if that doesn't work, try
+
+     ./configure CC="cc -nodtk"
+
+On Solaris, don't put `/usr/ucb' early in your `PATH'.  This directory contains
+several dysfunctional programs; working variants of these programs are available
+in `/usr/bin'.  So, if you need `/usr/ucb' in your `PATH', put it _after_
+`/usr/bin'.
+
+On Haiku, software installed for all users goes in `/boot/common', not
+`/usr/local'.  It is recommended to use the following options:
+
+     ./configure --prefix=/boot/common
+
+Specifying the System Type
+==========================
+
+There may be some features `configure' cannot figure out automatically, but
+needs to determine by the type of machine the package will run on.  Usually,
+assuming the package is built to be run on the _same_ architectures, `configure'
+can figure that out, but if it prints a message saying it cannot guess the
+machine type, give it the `--build=TYPE' option.  TYPE can either be a short
+name for the system type, such as `sun4', or a canonical name which has the
+form:
+
+     CPU-COMPANY-SYSTEM
+
+where SYSTEM can have one of these forms:
+
+     OS
+     KERNEL-OS
+
+See the file `config.sub' for the possible values of each field.  If
+`config.sub' isn't included in this package, then this package doesn't need to
+know the machine type.
+
+If you are _building_ compiler tools for cross-compiling, you should use the
+option `--target=TYPE' to select the type of system they will produce code for.
+
+If you want to _use_ a cross compiler, that generates code for a platform
+different from the build platform, you should specify the "host" platform (i.e.,
+that on which the generated programs will eventually be run) with `--host=TYPE'.
+
+Sharing Defaults
+================
+
+If you want to set default values for `configure' scripts to share, you can
+create a site shell script called `config.site' that gives default values for
+variables like `CC', `cache_file', and `prefix'.  `configure' looks for
+`PREFIX/share/config.site' if it exists, then `PREFIX/etc/config.site' if it
+exists.  Or, you can set the `CONFIG_SITE' environment variable to the location
+of the site script.  A warning: not all `configure' scripts look for a site
+script.
+
+Defining Variables
+==================
+
+Variables not defined in a site shell script can be set in the environment
+passed to `configure'.  However, some packages may run configure again during
+the build, and the customized values of these variables may be lost.  In order
+to avoid this problem, you should set them in the `configure' command line,
+using `VAR=value'.  For example:
+
+     ./configure CC=/usr/local2/bin/gcc
+
+causes the specified `gcc' to be used as the C compiler (unless it is
+overridden in the site shell script).
+
+Unfortunately, this technique does not work for `CONFIG_SHELL' due to
+an Autoconf bug.  Until the bug is fixed you can use this workaround:
+
+     CONFIG_SHELL=/bin/bash /bin/bash ./configure CONFIG_SHELL=/bin/bash
+
+`configure' Invocation
+======================
+
+`configure' recognizes the following options to control how it operates.
+
+`--help'
+`-h'
+     Print a summary of all of the options to `configure', and exit.
+
+`--help=short'
+`--help=recursive'
+     Print a summary of the options unique to this package's
+     `configure', and exit.  The `short' variant lists options used
+     only in the top level, while the `recursive' variant lists options
+     also present in any nested packages.
+
+`--version'
+`-V'
+     Print the version of Autoconf used to generate the `configure'
+     script, and exit.
+
+`--cache-file=FILE'
+     Enable the cache: use and save the results of the tests in FILE,
+     traditionally `config.cache'.  FILE defaults to `/dev/null' to
+     disable caching.
+
+`--config-cache'
+`-C'
+     Alias for `--cache-file=config.cache'.
+
+`--quiet'
+`--silent'
+`-q'
+     Do not print messages saying which checks are being made.  To
+     suppress all normal output, redirect it to `/dev/null' (any error
+     messages will still be shown).
+
+`--srcdir=DIR'
+     Look for the package's source code in directory DIR.  Usually
+     `configure' can determine that directory automatically.
+
+`--prefix=DIR'
+     Use DIR as the installation prefix.  *note Installation Names::
+     for more details, including other options available for fine-tuning
+     the installation locations.
+
+`--no-create'
+`-n'
+     Run the configure checks, but stop before creating any output
+     files.
+
+`configure' also accepts some other, not widely useful, options.  Run
+`configure --help' for more details.
+
diff --git a/Makefile.am b/Makefile.am
new file mode 100644
index 0000000..aaef76e
--- /dev/null
+++ b/Makefile.am
@@ -0,0 +1,23 @@
+# Makefile.am -- automake script for the car plugin
+# Copyright (C) 2013  Galois, Inc.
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU 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 General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+# or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+# Oregon, 97204-1622.
+
+ACLOCAL_AMFLAGS = -I m4
+
+SUBDIRS = src
diff --git a/README b/README
new file mode 100644
index 0000000..8d424b9
--- /dev/null
+++ b/README
@@ -0,0 +1,115 @@
+                      ppaml-vrep-automobile-plugin, v1.0.0
+
+This package provides a data collection plugin for the V-REP robotics simulator
+<http://coppeliarobotics.com/>.  The plugin is targeted at data collection
+following the model described at
+<http://prism2.mem.drexel.edu/~vefa/courses/SLAM/nebotJournal.pdf>, but it may
+be useful for other projects as well.
+
+For detailed installation instructions, see the INSTALL file.
+
+For examples of use, see the examples directory.
+
+Once you have installed the library and restarted V-REP, you'll have at your
+disposal five new Lua functions:
+
+  - simExtAutomobileInit(string directoryName, number L, number h, number a,
+                         number b, number theta0, number max_distance,
+                         number max_intensity)
+    Initializes the plugin.  Consequently, you must call this at least once
+    during your run, and we strongly recommend you do so before collecting any
+    data. :)  The parameters are:
+
+      - directoryName: The base directory for the output data.  If the
+        directory does not exist, the plugin will create it.  If the directory
+        does exist, the plugin will remove anything in it that looks like data
+        from a previous run.
+
+      - L, h, a, b, theta0: Model parameters as described in the paper.
+        Specifically:
+
+          - L: Distance between front and rear axles.
+
+          - h: Distance between center of rear axle and encoder on left rear
+            wheel.  In examples/simple.ttt, this parameter is zero, as no
+            encoder is used; instead, we measure position directly at the
+            center of the rear axle.
+
+          - a, b: Distance between the rear axle and the lidar sensor,
+            expressed as a 2D vector.  The basis vectors point in line with the
+            car and forward (for a) and in line with the axle and to the left
+            side of the vehicle (for b).
+
+          - theta0: Initial angle of the car, with 0 defined as due east and
+            increasing counterclockwise (i.e., in the positive k̂ direction).
+
+      - max_distance, max_intensity: Lidar parameters.  max_distance should be
+        set to the distance between the lidar sensors' apertures and their far
+        clip planes; in examples/simple.ttt, this is 10.  max_intensity is
+        entirely dependent on what code you're using to postprocess the data;
+        we've had it set at 32768, but you can pick whatever you want without
+        incident.
+
+  - simExtAutomobileRequestNoise(table2 xy, table2 angle, table2 speed,
+                                 table2 steeringAngle, table2 distance,
+                                 table2 intensity)
+    Requests that, in addition to the gathered data, the plugin also generate a
+    data set with artificial Gaussian noise added.  Should you wish to use this
+    function, we strongly recommend you only call it once per run.  The
+    parameters are two-element numeric tables describing the mean and standard
+    deviation for the noise applied to each measurement.
+
+  - simExtAutomobileSavePose(number simulationTime, number x, number y,
+                             number theta)
+    Records a pose (position and angle).  You should call this repeatedly to
+    save multiple poses over the course of a simulation.
+
+  - simExtAutomobileSaveControls(number simulationTime, number speed,
+                                 number steeringAngle)
+    Records measurements taken from control surfaces of the car--speed and
+    steering angle of the right front wheel.  (This model has Ackermann
+    steering; hence, the two front wheels will generally not be oriented at
+    equal angles.)  You should call this repeatedly to save multiple data over
+    the course of a simulation.
+
+  - simExtAutomobileSaveLaserPair(number simulationTime, table leftDepthBuffer,
+                                  table rightDepthBuffer, table leftImage,
+                                  table rightImage)
+    Records measurements from the lidar.  You should call this repeatedbly to
+    save multiple data over the course of a simulation.  So that you may
+    simulate a lidar with a wider angle than V-REP's distance sensor part
+    supports, you can pass two inputs, which will be concatenated in the plugin
+    before being written to the file.  Your input tables may be of any length,
+    but they must be the same length on each call to this function throughout a
+    single run--should you fail to maintainf this invariant, the plugin will
+    crash with a C++ exception, bringing down V-REP with it.
+
+The output directory tree will look like this:
+
+    output_dir
+    ├── ground
+    │   ├── slam_control.csv
+    │   ├── slam_gps.csv
+    │   ├── slam_laser.csv
+    │   └── slam_sensor.csv
+    ├── noisy
+    │   ├── slam_control.csv
+    │   ├── slam_gps.csv
+    │   ├── slam_laser.csv
+    │   └── slam_sensor.csv
+    └── properties.csv
+
+The properties.csv file contains run properties written with
+simExtAutomobileInit.  The ground subdirectory contains ground truth data; the
+noisy subdirectory contains data with additive noise.  In each subdirectory,
+you'll find
+
+  - slam_sensor.csv: A "table of contents" file that describes which sensor was
+    sampled at what time.
+
+  - slam_gps.csv: All poses saved with simExtAutomobileSavePose.
+
+  - slam_sensor.csv: All data saved with simExtAutomobileSaveControls.
+
+  - slam_laser.csv: All lidar measurements saved with
+    simExtAutomobileSaveLaserPair.
diff --git a/configure.ac b/configure.ac
new file mode 100644
index 0000000..1bf6e65
--- /dev/null
+++ b/configure.ac
@@ -0,0 +1,109 @@
+# configure.ac -- autoconf script for the car plugin
+# Copyright (C) 2013  Galois, Inc.
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU 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 General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+# or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+# Oregon, 97204-1622.
+
+# Fire up Autoconf.
+AC_PREREQ([2.69])
+AC_INIT([libv_repExtAutomobile], [1.0.0], [bbarenblat@galois.com])
+AC_CANONICAL_TARGET
+
+# This package will build but not function on OS X, so fail fast if we're on
+# Darwin.
+case "$target_os" in
+    darwin*)
+        AC_MSG_ERROR([this plugin will not function on OS X])
+        ;;
+esac
+
+# Fire up Automake.
+AM_INIT_AUTOMAKE([-Wall -Wno-gnu -Wno-override -Werror foreign no-dist-gzip dist-bzip2])
+AC_CONFIG_MACRO_DIR([m4])
+
+# Build quietly.
+m4_ifdef([AM_SILENT_RULES], [AM_SILENT_RULES([yes])])
+
+# Build a C++ library.
+AC_CONFIG_SRCDIR([config.h.in])
+AC_CONFIG_HEADERS([config.h])
+AC_PROG_CXX
+AX_CXX_COMPILE_STDCXX_11([noext],[mandatory])
+# Automake 1.12 seems to require this, but automake 1.11 doesn't recognize it.
+m4_ifdef([AM_PROG_AR], [AM_PROG_AR])
+LT_INIT
+AC_PROG_LN_S
+
+# Dependencies
+AC_ARG_VAR([VREP], [path to V-REP installation])
+if test -z "$VREP"; then
+    AC_MSG_ERROR([empty VREP environment variable; please set it to the path to the V-REP installation directory])
+fi
+VREP_CXXFLAGS=-I$VREP/programming/include
+AC_SUBST([VREP])
+AC_SUBST([VREP_CXXFLAGS])
+
+BOOST_REQUIRE
+BOOST_FILESYSTEM
+BOOST_OPTIONAL([1.34])
+
+# C++11 initializer list syntax is nice!  Sadly, it is not universally
+# supported.  Notably, Clang <3.1 lacks support for initializer lists, and a
+# number of systems--e.g., Debian Wheezy machines--have pre-3.1 Clang.
+# TODO: Once Clang 3.0 and earlier disappear from the ecosystem, get rid of
+# HAVE_CXX11_INITIALIZER_LISTS and make this check fatal on error.
+AC_LANG_PUSH([C++])
+AC_MSG_CHECKING([for initializer list support])
+# Double brackets go around the argument to AC_LANG_SOURCE, lest m4 replace the
+# square brackets in the C++ code.
+AC_COMPILE_IFELSE(
+    [AC_LANG_SOURCE([[#include <vector>
+int main(int argc, char *argv[]) {
+    std::vector<int> test {1, 2, 3};
+    return 0;
+}]])],
+    [AC_DEFINE(
+        [HAVE_CXX11_INITIALIZER_LISTS],
+        [1],
+        [Define to 1 if your compiler supports C++11 initializer lists.])
+     AC_MSG_RESULT([yes])],
+    [AC_MSG_RESULT([no])])
+AC_LANG_POP([C++])
+
+# Same for lambda expressions.
+AC_LANG_PUSH([C++])
+AC_MSG_CHECKING([for C++11 closure support])
+AC_COMPILE_IFELSE(
+    [AC_LANG_SOURCE([[int main(int argc, char *argv[]) {
+    auto test = [](int &n){ n++; };
+    return 0;
+}]])],
+    [AC_DEFINE(
+        [HAVE_CXX11_CLOSURES],
+        [1],
+        [Define to 1 if your compiler supports C++11 closure syntax.])
+     AC_MSG_RESULT([yes])],
+    [AC_MSG_RESULT([no])])
+AC_LANG_POP([C++])
+
+# Generate Makefiles.
+AC_CONFIG_FILES([
+    Makefile
+    src/Makefile])
+
+# All done.
+AC_OUTPUT
diff --git a/examples/simple.ttt b/examples/simple.ttt
new file mode 100644
index 0000000..d95dca7
--- /dev/null
+++ b/examples/simple.ttt
diff --git a/m4/ax_cxx_compile_stdcxx_11.m4 b/m4/ax_cxx_compile_stdcxx_11.m4
new file mode 100644
index 0000000..af37acd
--- /dev/null
+++ b/m4/ax_cxx_compile_stdcxx_11.m4
@@ -0,0 +1,133 @@
+# ============================================================================
+#  http://www.gnu.org/software/autoconf-archive/ax_cxx_compile_stdcxx_11.html
+# ============================================================================
+#
+# SYNOPSIS
+#
+#   AX_CXX_COMPILE_STDCXX_11([ext|noext],[mandatory|optional])
+#
+# DESCRIPTION
+#
+#   Check for baseline language coverage in the compiler for the C++11
+#   standard; if necessary, add switches to CXXFLAGS to enable support.
+#
+#   The first argument, if specified, indicates whether you insist on an
+#   extended mode (e.g. -std=gnu++11) or a strict conformance mode (e.g.
+#   -std=c++11).  If neither is specified, you get whatever works, with
+#   preference for an extended mode.
+#
+#   The second argument, if specified 'mandatory' or if left unspecified,
+#   indicates that baseline C++11 support is required and that the macro
+#   should error out if no mode with that support is found.  If specified
+#   'optional', then configuration proceeds regardless, after defining
+#   HAVE_CXX11 if and only if a supporting mode is found.
+#
+# LICENSE
+#
+#   Copyright (c) 2008 Benjamin Kosnik <bkoz@redhat.com>
+#   Copyright (c) 2012 Zack Weinberg <zackw@panix.com>
+#   Copyright (c) 2013 Roy Stogner <roystgnr@ices.utexas.edu>
+#
+#   Copying and distribution of this file, with or without modification, are
+#   permitted in any medium without royalty provided the copyright notice
+#   and this notice are preserved. This file is offered as-is, without any
+#   warranty.
+
+#serial 3
+
+m4_define([_AX_CXX_COMPILE_STDCXX_11_testbody], [
+  template <typename T>
+    struct check
+    {
+      static_assert(sizeof(int) <= sizeof(T), "not big enough");
+    };
+
+    typedef check<check<bool>> right_angle_brackets;
+
+    int a;
+    decltype(a) b;
+
+    typedef check<int> check_type;
+    check_type c;
+    check_type&& cr = static_cast<check_type&&>(c);
+
+    auto d = a;
+])
+
+AC_DEFUN([AX_CXX_COMPILE_STDCXX_11], [dnl
+  m4_if([$1], [], [],
+        [$1], [ext], [],
+        [$1], [noext], [],
+        [m4_fatal([invalid argument `$1' to AX_CXX_COMPILE_STDCXX_11])])dnl
+  m4_if([$2], [], [ax_cxx_compile_cxx11_required=true],
+        [$2], [mandatory], [ax_cxx_compile_cxx11_required=true],
+        [$2], [optional], [ax_cxx_compile_cxx11_required=false],
+        [m4_fatal([invalid second argument `$2' to AX_CXX_COMPILE_STDCXX_11])])dnl
+  AC_LANG_PUSH([C++])dnl
+  ac_success=no
+  AC_CACHE_CHECK(whether $CXX supports C++11 features by default,
+  ax_cv_cxx_compile_cxx11,
+  [AC_COMPILE_IFELSE([AC_LANG_SOURCE([_AX_CXX_COMPILE_STDCXX_11_testbody])],
+    [ax_cv_cxx_compile_cxx11=yes],
+    [ax_cv_cxx_compile_cxx11=no])])
+  if test x$ax_cv_cxx_compile_cxx11 = xyes; then
+    ac_success=yes
+  fi
+
+  m4_if([$1], [noext], [], [dnl
+  if test x$ac_success = xno; then
+    for switch in -std=gnu++11 -std=gnu++0x; do
+      cachevar=AS_TR_SH([ax_cv_cxx_compile_cxx11_$switch])
+      AC_CACHE_CHECK(whether $CXX supports C++11 features with $switch,
+                     $cachevar,
+        [ac_save_CXXFLAGS="$CXXFLAGS"
+         CXXFLAGS="$CXXFLAGS $switch"
+         AC_COMPILE_IFELSE([AC_LANG_SOURCE([_AX_CXX_COMPILE_STDCXX_11_testbody])],
+          [eval $cachevar=yes],
+          [eval $cachevar=no])
+         CXXFLAGS="$ac_save_CXXFLAGS"])
+      if eval test x\$$cachevar = xyes; then
+        CXXFLAGS="$CXXFLAGS $switch"
+        ac_success=yes
+        break
+      fi
+    done
+  fi])
+
+  m4_if([$1], [ext], [], [dnl
+  if test x$ac_success = xno; then
+    for switch in -std=c++11 -std=c++0x; do
+      cachevar=AS_TR_SH([ax_cv_cxx_compile_cxx11_$switch])
+      AC_CACHE_CHECK(whether $CXX supports C++11 features with $switch,
+                     $cachevar,
+        [ac_save_CXXFLAGS="$CXXFLAGS"
+         CXXFLAGS="$CXXFLAGS $switch"
+         AC_COMPILE_IFELSE([AC_LANG_SOURCE([_AX_CXX_COMPILE_STDCXX_11_testbody])],
+          [eval $cachevar=yes],
+          [eval $cachevar=no])
+         CXXFLAGS="$ac_save_CXXFLAGS"])
+      if eval test x\$$cachevar = xyes; then
+        CXXFLAGS="$CXXFLAGS $switch"
+        ac_success=yes
+        break
+      fi
+    done
+  fi])
+  AC_LANG_POP([C++])
+  if test x$ax_cxx_compile_cxx11_required = xtrue; then
+    if test x$ac_success = xno; then
+      AC_MSG_ERROR([*** A compiler with support for C++11 language features is required.])
+    fi
+  else
+    if test x$ac_success = xno; then
+      HAVE_CXX11=0
+      AC_MSG_NOTICE([No compiler with C++11 support was found])
+    else
+      HAVE_CXX11=1
+      AC_DEFINE(HAVE_CXX11,1,
+                [define if the compiler supports basic C++11 syntax])
+    fi
+
+    AC_SUBST(HAVE_CXX11)
+  fi
+])
diff --git a/m4/boost.m4 b/m4/boost.m4
new file mode 100644
index 0000000..c8eb65a
--- /dev/null
+++ b/m4/boost.m4
@@ -0,0 +1,1239 @@
+# boost.m4: Locate Boost headers and libraries for autoconf-based projects.
+# Copyright (C) 2007, 2008, 2009, 2010, 2011  Benoit Sigoure <tsuna@lrde.epita.fr>
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# Additional permission under section 7 of the GNU General Public
+# License, version 3 ("GPLv3"):
+#
+# If you convey this file as part of a work that contains a
+# configuration script generated by Autoconf, you may do so under
+# terms of your choice.
+#
+# 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 General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+m4_define([_BOOST_SERIAL], [m4_translit([
+# serial 18
+], [#
+], [])])
+
+# Original sources can be found at http://github.com/tsuna/boost.m4
+# You can fetch the latest version of the script by doing:
+#   wget http://github.com/tsuna/boost.m4/raw/master/build-aux/boost.m4
+
+# ------ #
+# README #
+# ------ #
+
+# This file provides several macros to use the various Boost libraries.
+# The first macro is BOOST_REQUIRE.  It will simply check if it's possible to
+# find the Boost headers of a given (optional) minimum version and it will
+# define BOOST_CPPFLAGS accordingly.  It will add an option --with-boost to
+# your configure so that users can specify non standard locations.
+# If the user's environment contains BOOST_ROOT and --with-boost was not
+# specified, --with-boost=$BOOST_ROOT is implicitly used.
+# For more README and documentation, go to http://github.com/tsuna/boost.m4
+# Note: THESE MACROS ASSUME THAT YOU USE LIBTOOL.  If you don't, don't worry,
+# simply read the README, it will show you what to do step by step.
+
+m4_pattern_forbid([^_?(BOOST|Boost)_])
+
+
+# _BOOST_SED_CPP(SED-PROGRAM, PROGRAM,
+#                [ACTION-IF-FOUND], [ACTION-IF-NOT-FOUND])
+# --------------------------------------------------------
+# Same as AC_EGREP_CPP, but leave the result in conftest.i.
+#
+# SED-PROGRAM is *not* overquoted, as in AC_EGREP_CPP.  It is expanded
+# in double-quotes, so escape your double quotes.
+#
+# It could be useful to turn this into a macro which extracts the
+# value of any macro.
+m4_define([_BOOST_SED_CPP],
+[AC_LANG_PREPROC_REQUIRE()dnl
+AC_REQUIRE([AC_PROG_SED])dnl
+AC_LANG_CONFTEST([AC_LANG_SOURCE([[$2]])])
+AS_IF([dnl eval is necessary to expand ac_cpp.
+dnl Ultrix and Pyramid sh refuse to redirect output of eval, so use subshell.
+dnl Beware of Windows end-of-lines, for instance if we are running
+dnl some Windows programs under Wine.  In that case, boost/version.hpp
+dnl is certainly using "\r\n", but the regular Unix shell will only
+dnl strip `\n' with backquotes, not the `\r'.  This results in
+dnl boost_cv_lib_version='1_37\r' for instance, which breaks
+dnl everything else.
+dnl Cannot use 'dnl' after [$4] because a trailing dnl may break AC_CACHE_CHECK
+(eval "$ac_cpp conftest.$ac_ext") 2>&AS_MESSAGE_LOG_FD |
+  tr -d '\r' |
+  $SED -n -e "$1" >conftest.i 2>&1],
+  [$3],
+  [$4])
+rm -rf conftest*
+])# AC_EGREP_CPP
+
+
+
+# BOOST_REQUIRE([VERSION], [ACTION-IF-NOT-FOUND])
+# -----------------------------------------------
+# Look for Boost.  If version is given, it must either be a literal of the form
+# "X.Y.Z" where X, Y and Z are integers (the ".Z" part being optional) or a
+# variable "$var".
+# Defines the value BOOST_CPPFLAGS.  This macro only checks for headers with
+# the required version, it does not check for any of the Boost libraries.
+# On # success, defines HAVE_BOOST.  On failure, calls the optional
+# ACTION-IF-NOT-FOUND action if one was supplied.
+# Otherwise aborts with an error message.
+AC_DEFUN([BOOST_REQUIRE],
+[AC_REQUIRE([AC_PROG_CXX])dnl
+AC_REQUIRE([AC_PROG_GREP])dnl
+echo "$as_me: this is boost.m4[]_BOOST_SERIAL" >&AS_MESSAGE_LOG_FD
+boost_save_IFS=$IFS
+boost_version_req=$1
+IFS=.
+set x $boost_version_req 0 0 0
+IFS=$boost_save_IFS
+shift
+boost_version_req=`expr "$[1]" '*' 100000 + "$[2]" '*' 100 + "$[3]"`
+boost_version_req_string=$[1].$[2].$[3]
+AC_ARG_WITH([boost],
+   [AS_HELP_STRING([--with-boost=DIR],
+                   [prefix of Boost $1 @<:@guess@:>@])])dnl
+AC_ARG_VAR([BOOST_ROOT],[Location of Boost installation])dnl
+# If BOOST_ROOT is set and the user has not provided a value to
+# --with-boost, then treat BOOST_ROOT as if it the user supplied it.
+if test x"$BOOST_ROOT" != x; then
+  if test x"$with_boost" = x; then
+    AC_MSG_NOTICE([Detected BOOST_ROOT; continuing with --with-boost=$BOOST_ROOT])
+    with_boost=$BOOST_ROOT
+  else
+    AC_MSG_NOTICE([Detected BOOST_ROOT=$BOOST_ROOT, but overridden by --with-boost=$with_boost])
+  fi
+fi
+AC_SUBST([DISTCHECK_CONFIGURE_FLAGS],
+         ["$DISTCHECK_CONFIGURE_FLAGS '--with-boost=$with_boost'"])dnl
+boost_save_CPPFLAGS=$CPPFLAGS
+  AC_CACHE_CHECK([for Boost headers version >= $boost_version_req_string],
+    [boost_cv_inc_path],
+    [boost_cv_inc_path=no
+AC_LANG_PUSH([C++])dnl
+m4_pattern_allow([^BOOST_VERSION$])dnl
+    AC_LANG_CONFTEST([AC_LANG_PROGRAM([[#include <boost/version.hpp>
+#if !defined BOOST_VERSION
+# error BOOST_VERSION is not defined
+#elif BOOST_VERSION < $boost_version_req
+# error Boost headers version < $boost_version_req
+#endif
+]])])
+    # If the user provided a value to --with-boost, use it and only it.
+    case $with_boost in #(
+      ''|yes) set x '' /opt/local/include /usr/local/include /opt/include \
+                 /usr/include C:/Boost/include;; #(
+      *)      set x "$with_boost/include" "$with_boost";;
+    esac
+    shift
+    for boost_dir
+    do
+    # Without --layout=system, Boost (or at least some versions) installs
+    # itself in <prefix>/include/boost-<version>.  This inner loop helps to
+    # find headers in such directories.
+    #
+    # Any ${boost_dir}/boost-x_xx directories are searched in reverse version
+    # order followed by ${boost_dir}.  The final '.' is a sentinel for
+    # searching $boost_dir" itself.  Entries are whitespace separated.
+    #
+    # I didn't indent this loop on purpose (to avoid over-indented code)
+    boost_layout_system_search_list=`cd "$boost_dir" 2>/dev/null \
+        && ls -1 | "${GREP}" '^boost-' | sort -rn -t- -k2 \
+        && echo .`
+    for boost_inc in $boost_layout_system_search_list
+    do
+      if test x"$boost_inc" != x.; then
+        boost_inc="$boost_dir/$boost_inc"
+      else
+        boost_inc="$boost_dir" # Uses sentinel in boost_layout_system_search_list
+      fi
+      if test x"$boost_inc" != x; then
+        # We are going to check whether the version of Boost installed
+        # in $boost_inc is usable by running a compilation that
+        # #includes it.  But if we pass a -I/some/path in which Boost
+        # is not installed, the compiler will just skip this -I and
+        # use other locations (either from CPPFLAGS, or from its list
+        # of system include directories).  As a result we would use
+        # header installed on the machine instead of the /some/path
+        # specified by the user.  So in that precise case (trying
+        # $boost_inc), make sure the version.hpp exists.
+        #
+        # Use test -e as there can be symlinks.
+        test -e "$boost_inc/boost/version.hpp" || continue
+        CPPFLAGS="$CPPFLAGS -I$boost_inc"
+      fi
+      AC_COMPILE_IFELSE([], [boost_cv_inc_path=yes], [boost_cv_version=no])
+      if test x"$boost_cv_inc_path" = xyes; then
+        if test x"$boost_inc" != x; then
+          boost_cv_inc_path=$boost_inc
+        fi
+        break 2
+      fi
+    done
+    done
+AC_LANG_POP([C++])dnl
+    ])
+    case $boost_cv_inc_path in #(
+      no)
+        boost_errmsg="cannot find Boost headers version >= $boost_version_req_string"
+        m4_if([$2], [],  [AC_MSG_ERROR([$boost_errmsg])],
+                        [AC_MSG_NOTICE([$boost_errmsg])])
+        $2
+        ;;#(
+      yes)
+        BOOST_CPPFLAGS=
+        ;;#(
+      *)
+        AC_SUBST([BOOST_CPPFLAGS], ["-I$boost_cv_inc_path"])dnl
+        ;;
+    esac
+  if test x"$boost_cv_inc_path" != xno; then
+  AC_DEFINE([HAVE_BOOST], [1],
+            [Defined if the requested minimum BOOST version is satisfied])
+  AC_CACHE_CHECK([for Boost's header version],
+    [boost_cv_lib_version],
+    [m4_pattern_allow([^BOOST_LIB_VERSION$])dnl
+     _BOOST_SED_CPP([/^boost-lib-version = /{s///;s/\"//g;p;q;}],
+                    [#include <boost/version.hpp>
+boost-lib-version = BOOST_LIB_VERSION],
+    [boost_cv_lib_version=`cat conftest.i`])])
+    # e.g. "134" for 1_34_1 or "135" for 1_35
+    boost_major_version=`echo "$boost_cv_lib_version" | sed 's/_//;s/_.*//'`
+    case $boost_major_version in #(
+      '' | *[[!0-9]]*)
+        AC_MSG_ERROR([invalid value: boost_major_version=$boost_major_version])
+        ;;
+    esac
+fi
+CPPFLAGS=$boost_save_CPPFLAGS
+])# BOOST_REQUIRE
+
+# BOOST_STATIC()
+# --------------
+# Add the "--enable-static-boost" configure argument. If this argument is given
+# on the command line, static versions of the libraries will be looked up.
+AC_DEFUN([BOOST_STATIC],
+  [AC_ARG_ENABLE([static-boost],
+     [AS_HELP_STRING([--enable-static-boost],
+               [Prefer the static boost libraries over the shared ones [no]])],
+     [enable_static_boost=yes],
+     [enable_static_boost=no])])# BOOST_STATIC
+
+# BOOST_FIND_HEADER([HEADER-NAME], [ACTION-IF-NOT-FOUND], [ACTION-IF-FOUND])
+# --------------------------------------------------------------------------
+# Wrapper around AC_CHECK_HEADER for Boost headers.  Useful to check for
+# some parts of the Boost library which are only made of headers and don't
+# require linking (such as Boost.Foreach).
+#
+# Default ACTION-IF-NOT-FOUND: Fail with a fatal error unless Boost couldn't be
+# found in the first place, in which case by default a notice is issued to the
+# user.  Presumably if we haven't died already it's because it's OK to not have
+# Boost, which is why only a notice is issued instead of a hard error.
+#
+# Default ACTION-IF-FOUND: define the preprocessor symbol HAVE_<HEADER-NAME> in
+# case of success # (where HEADER-NAME is written LIKE_THIS, e.g.,
+# HAVE_BOOST_FOREACH_HPP).
+AC_DEFUN([BOOST_FIND_HEADER],
+[AC_REQUIRE([BOOST_REQUIRE])dnl
+if test x"$boost_cv_inc_path" = xno; then
+  m4_default([$2], [AC_MSG_NOTICE([Boost not available, not searching for $1])])
+else
+AC_LANG_PUSH([C++])dnl
+boost_save_CPPFLAGS=$CPPFLAGS
+CPPFLAGS="$CPPFLAGS $BOOST_CPPFLAGS"
+AC_CHECK_HEADER([$1],
+  [m4_default([$3], [AC_DEFINE(AS_TR_CPP([HAVE_$1]), [1],
+                               [Define to 1 if you have <$1>])])],
+  [m4_default([$2], [AC_MSG_ERROR([cannot find $1])])])
+CPPFLAGS=$boost_save_CPPFLAGS
+AC_LANG_POP([C++])dnl
+fi
+])# BOOST_FIND_HEADER
+
+
+# BOOST_FIND_LIB([LIB-NAME], [PREFERRED-RT-OPT], [HEADER-NAME], [CXX-TEST],
+#                [CXX-PROLOGUE])
+# -------------------------------------------------------------------------
+# Look for the Boost library LIB-NAME (e.g., LIB-NAME = `thread', for
+# libboost_thread).  Check that HEADER-NAME works and check that
+# libboost_LIB-NAME can link with the code CXX-TEST.  The optional argument
+# CXX-PROLOGUE can be used to include some C++ code before the `main'
+# function.
+#
+# Invokes BOOST_FIND_HEADER([HEADER-NAME]) (see above).
+#
+# Boost libraries typically come compiled with several flavors (with different
+# runtime options) so PREFERRED-RT-OPT is the preferred suffix.  A suffix is one
+# or more of the following letters: sgdpn (in that order).  s = static
+# runtime, d = debug build, g = debug/diagnostic runtime, p = STLPort build,
+# n = (unsure) STLPort build without iostreams from STLPort (it looks like `n'
+# must always be used along with `p').  Additionally, PREFERRED-RT-OPT can
+# start with `mt-' to indicate that there is a preference for multi-thread
+# builds.  Some sample values for PREFERRED-RT-OPT: (nothing), mt, d, mt-d, gdp
+# ...  If you want to make sure you have a specific version of Boost
+# (eg, >= 1.33) you *must* invoke BOOST_REQUIRE before this macro.
+AC_DEFUN([BOOST_FIND_LIB],
+[AC_REQUIRE([BOOST_REQUIRE])dnl
+AC_REQUIRE([_BOOST_FIND_COMPILER_TAG])dnl
+AC_REQUIRE([BOOST_STATIC])dnl
+AC_REQUIRE([_BOOST_GUESS_WHETHER_TO_USE_MT])dnl
+if test x"$boost_cv_inc_path" = xno; then
+  AC_MSG_NOTICE([Boost not available, not searching for the Boost $1 library])
+else
+dnl The else branch is huge and wasn't intended on purpose.
+AC_LANG_PUSH([C++])dnl
+AS_VAR_PUSHDEF([Boost_lib], [boost_cv_lib_$1])dnl
+AS_VAR_PUSHDEF([Boost_lib_LDFLAGS], [boost_cv_lib_$1_LDFLAGS])dnl
+AS_VAR_PUSHDEF([Boost_lib_LDPATH], [boost_cv_lib_$1_LDPATH])dnl
+AS_VAR_PUSHDEF([Boost_lib_LIBS], [boost_cv_lib_$1_LIBS])dnl
+BOOST_FIND_HEADER([$3])
+boost_save_CPPFLAGS=$CPPFLAGS
+CPPFLAGS="$CPPFLAGS $BOOST_CPPFLAGS"
+# Now let's try to find the library.  The algorithm is as follows: first look
+# for a given library name according to the user's PREFERRED-RT-OPT.  For each
+# library name, we prefer to use the ones that carry the tag (toolset name).
+# Each library is searched through the various standard paths were Boost is
+# usually installed.  If we can't find the standard variants, we try to
+# enforce -mt (for instance on MacOSX, libboost_threads.dylib doesn't exist
+# but there's -obviously- libboost_threads-mt.dylib).
+AC_CACHE_CHECK([for the Boost $1 library], [Boost_lib],
+  [Boost_lib=no
+  case "$2" in #(
+    mt | mt-) boost_mt=-mt; boost_rtopt=;; #(
+    mt* | mt-*) boost_mt=-mt; boost_rtopt=`expr "X$2" : 'Xmt-*\(.*\)'`;; #(
+    *) boost_mt=; boost_rtopt=$2;;
+  esac
+  if test $enable_static_boost = yes; then
+    boost_rtopt="s$boost_rtopt"
+  fi
+  # Find the proper debug variant depending on what we've been asked to find.
+  case $boost_rtopt in #(
+    *d*) boost_rt_d=$boost_rtopt;; #(
+    *[[sgpn]]*) # Insert the `d' at the right place (in between `sg' and `pn')
+      boost_rt_d=`echo "$boost_rtopt" | sed 's/\(s*g*\)\(p*n*\)/\1\2/'`;; #(
+    *) boost_rt_d='-d';;
+  esac
+  # If the PREFERRED-RT-OPT are not empty, prepend a `-'.
+  test -n "$boost_rtopt" && boost_rtopt="-$boost_rtopt"
+  $boost_guess_use_mt && boost_mt=-mt
+  # Look for the abs path the static archive.
+  # $libext is computed by Libtool but let's make sure it's non empty.
+  test -z "$libext" &&
+    AC_MSG_ERROR([the libext variable is empty, did you invoke Libtool?])
+  boost_save_ac_objext=$ac_objext
+  # Generate the test file.
+  AC_LANG_CONFTEST([AC_LANG_PROGRAM([#include <$3>
+$5], [$4])])
+dnl Optimization hacks: compiling C++ is slow, especially with Boost.  What
+dnl we're trying to do here is guess the right combination of link flags
+dnl (LIBS / LDFLAGS) to use a given library.  This can take several
+dnl iterations before it succeeds and is thus *very* slow.  So what we do
+dnl instead is that we compile the code first (and thus get an object file,
+dnl typically conftest.o).  Then we try various combinations of link flags
+dnl until we succeed to link conftest.o in an executable.  The problem is
+dnl that the various TRY_LINK / COMPILE_IFELSE macros of Autoconf always
+dnl remove all the temporary files including conftest.o.  So the trick here
+dnl is to temporarily change the value of ac_objext so that conftest.o is
+dnl preserved accross tests.  This is obviously fragile and I will burn in
+dnl hell for not respecting Autoconf's documented interfaces, but in the
+dnl mean time, it optimizes the macro by a factor of 5 to 30.
+dnl Another small optimization: the first argument of AC_COMPILE_IFELSE left
+dnl empty because the test file is generated only once above (before we
+dnl start the for loops).
+  AC_COMPILE_IFELSE([],
+    [ac_objext=do_not_rm_me_plz],
+    [AC_MSG_ERROR([cannot compile a test that uses Boost $1])])
+  ac_objext=$boost_save_ac_objext
+  boost_failed_libs=
+# Don't bother to ident the 6 nested for loops, only the 2 innermost ones
+# matter.
+for boost_tag_ in -$boost_cv_lib_tag ''; do
+for boost_ver_ in -$boost_cv_lib_version ''; do
+for boost_mt_ in $boost_mt -mt ''; do
+for boost_rtopt_ in $boost_rtopt '' -d; do
+  for boost_lib in \
+    boost_$1$boost_tag_$boost_mt_$boost_rtopt_$boost_ver_ \
+    boost_$1$boost_tag_$boost_rtopt_$boost_ver_ \
+    boost_$1$boost_tag_$boost_mt_$boost_ver_ \
+    boost_$1$boost_tag_$boost_ver_
+  do
+    # Avoid testing twice the same lib
+    case $boost_failed_libs in #(
+      *@$boost_lib@*) continue;;
+    esac
+    # If with_boost is empty, we'll search in /lib first, which is not quite
+    # right so instead we'll try to a location based on where the headers are.
+    boost_tmp_lib=$with_boost
+    test x"$with_boost" = x && boost_tmp_lib=${boost_cv_inc_path%/include}
+    for boost_ldpath in "$boost_tmp_lib/lib" '' \
+             /opt/local/lib* /usr/local/lib* /opt/lib* /usr/lib* \
+             "$with_boost" C:/Boost/lib /lib*
+    do
+      test -e "$boost_ldpath" || continue
+      boost_save_LDFLAGS=$LDFLAGS
+      # Are we looking for a static library?
+      case $boost_ldpath:$boost_rtopt_ in #(
+        *?*:*s*) # Yes (Non empty boost_ldpath + s in rt opt)
+          Boost_lib_LIBS="$boost_ldpath/lib$boost_lib.$libext"
+          test -e "$Boost_lib_LIBS" || continue;; #(
+        *) # No: use -lboost_foo to find the shared library.
+          Boost_lib_LIBS="-l$boost_lib";;
+      esac
+      boost_save_LIBS=$LIBS
+      LIBS="$Boost_lib_LIBS $LIBS"
+      test x"$boost_ldpath" != x && LDFLAGS="$LDFLAGS -L$boost_ldpath"
+dnl First argument of AC_LINK_IFELSE left empty because the test file is
+dnl generated only once above (before we start the for loops).
+      _BOOST_AC_LINK_IFELSE([],
+                            [Boost_lib=yes], [Boost_lib=no])
+      ac_objext=$boost_save_ac_objext
+      LDFLAGS=$boost_save_LDFLAGS
+      LIBS=$boost_save_LIBS
+      if test x"$Boost_lib" = xyes; then
+        # Check or used cached result of whether or not using -R or -rpath makes sense.
+        # Some implementations of ld, such as for Mac OSX, require -rpath but
+        # -R is the flag known to work on other systems.
+        # https://github.com/tsuna/boost.m4/issues/19
+        AC_CACHE_VAL([boost_cv_rpath_link_ldflag],
+          [for boost_cv_rpath_link_ldflag in -Wl,-R, -Wl,-rpath,; do
+            LDFLAGS="$boost_save_LDFLAGS -L$boost_ldpath $boost_cv_rpath_link_ldflag$boost_ldpath"
+            LIBS="$boost_save_LIBS $Boost_lib_LIBS"
+            _BOOST_AC_LINK_IFELSE([],
+              [boost_rpath_link_ldflag_found=yes
+              break],
+              [boost_rpath_link_ldflag_found=no])
+          done
+          AS_IF([test "x$boost_rpath_link_ldflag_found" != "xyes"],
+            [AC_MSG_ERROR([Unable to determine whether to use -R or -rpath])])
+          LDFLAGS=$boost_save_LDFLAGS
+          LIBS=$boost_save_LIBS
+          ])
+        Boost_lib_LDFLAGS="-L$boost_ldpath $boost_cv_rpath_link_ldflag$boost_ldpath"
+        Boost_lib_LDPATH="$boost_ldpath"
+        break 6
+      else
+        boost_failed_libs="$boost_failed_libs@$boost_lib@"
+      fi
+    done
+  done
+done
+done
+done
+done
+rm -f conftest.$ac_objext
+])
+case $Boost_lib in #(
+  no) _AC_MSG_LOG_CONFTEST
+    AC_MSG_ERROR([cannot find the flags to link with Boost $1])
+    ;;
+esac
+AC_SUBST(AS_TR_CPP([BOOST_$1_LDFLAGS]), [$Boost_lib_LDFLAGS])dnl
+AC_SUBST(AS_TR_CPP([BOOST_$1_LDPATH]), [$Boost_lib_LDPATH])dnl
+AC_SUBST([BOOST_LDPATH], [$Boost_lib_LDPATH])dnl
+AC_SUBST(AS_TR_CPP([BOOST_$1_LIBS]), [$Boost_lib_LIBS])dnl
+CPPFLAGS=$boost_save_CPPFLAGS
+AS_VAR_POPDEF([Boost_lib])dnl
+AS_VAR_POPDEF([Boost_lib_LDFLAGS])dnl
+AS_VAR_POPDEF([Boost_lib_LDPATH])dnl
+AS_VAR_POPDEF([Boost_lib_LIBS])dnl
+AC_LANG_POP([C++])dnl
+fi
+])# BOOST_FIND_LIB
+
+
+# --------------------------------------- #
+# Checks for the various Boost libraries. #
+# --------------------------------------- #
+
+# List of boost libraries: http://www.boost.org/libs/libraries.htm
+# The page http://beta.boost.org/doc/libs is useful: it gives the first release
+# version of each library (among other things).
+
+# BOOST_DEFUN(LIBRARY, CODE)
+# --------------------------
+# Define BOOST_<LIBRARY-UPPERCASE> as a macro that runs CODE.
+#
+# Use indir to avoid the warning on underquoted macro name given to AC_DEFUN.
+m4_define([BOOST_DEFUN],
+[m4_indir([AC_DEFUN],
+          m4_toupper([BOOST_$1]),
+[m4_pushdef([BOOST_Library], [$1])dnl
+$2
+m4_popdef([BOOST_Library])dnl
+])
+])
+
+# BOOST_ARRAY()
+# -------------
+# Look for Boost.Array
+BOOST_DEFUN([Array],
+[BOOST_FIND_HEADER([boost/array.hpp])])
+
+
+# BOOST_ASIO()
+# ------------
+# Look for Boost.Asio (new in Boost 1.35).
+BOOST_DEFUN([Asio],
+[AC_REQUIRE([BOOST_SYSTEM])dnl
+BOOST_FIND_HEADER([boost/asio.hpp])])
+
+
+# BOOST_BIND()
+# ------------
+# Look for Boost.Bind
+BOOST_DEFUN([Bind],
+[BOOST_FIND_HEADER([boost/bind.hpp])])
+
+
+# BOOST_CHRONO()
+# ------------------
+# Look for Boost.Chrono
+BOOST_DEFUN([Chrono],
+[# Do we have to check for Boost.System?  This link-time dependency was
+# added as of 1.35.0.  If we have a version <1.35, we must not attempt to
+# find Boost.System as it didn't exist by then.
+if test $boost_major_version -ge 135; then
+BOOST_SYSTEM([$1])
+fi # end of the Boost.System check.
+boost_filesystem_save_LIBS=$LIBS
+boost_filesystem_save_LDFLAGS=$LDFLAGS
+m4_pattern_allow([^BOOST_SYSTEM_(LIBS|LDFLAGS)$])dnl
+LIBS="$LIBS $BOOST_SYSTEM_LIBS"
+LDFLAGS="$LDFLAGS $BOOST_SYSTEM_LDFLAGS"
+BOOST_FIND_LIB([chrono], [$1],
+                [boost/chrono.hpp],
+                [boost::chrono::thread_clock d;])
+if test $enable_static_boost = yes && test $boost_major_version -ge 135; then
+    AC_SUBST([BOOST_FILESYSTEM_LIBS], ["$BOOST_FILESYSTEM_LIBS $BOOST_SYSTEM_LIBS"])
+fi
+LIBS=$boost_filesystem_save_LIBS
+LDFLAGS=$boost_filesystem_save_LDFLAGS
+
+])# BOOST_CHRONO
+
+
+# BOOST_CONVERSION()
+# ------------------
+# Look for Boost.Conversion (cast / lexical_cast)
+BOOST_DEFUN([Conversion],
+[BOOST_FIND_HEADER([boost/cast.hpp])
+BOOST_FIND_HEADER([boost/lexical_cast.hpp])
+])# BOOST_CONVERSION
+
+
+# BOOST_CRC()
+# -----------
+# Look for Boost.CRC
+BOOST_DEFUN([CRC],
+[BOOST_FIND_HEADER([boost/crc.hpp])
+])# BOOST_CRC
+
+
+# BOOST_DATE_TIME([PREFERRED-RT-OPT])
+# -----------------------------------
+# Look for Boost.Date_Time.  For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Date_Time],
+[BOOST_FIND_LIB([date_time], [$1],
+                [boost/date_time/posix_time/posix_time.hpp],
+                [boost::posix_time::ptime t;])
+])# BOOST_DATE_TIME
+
+
+# BOOST_FILESYSTEM([PREFERRED-RT-OPT])
+# ------------------------------------
+# Look for Boost.Filesystem.  For the documentation of PREFERRED-RT-OPT, see
+# the documentation of BOOST_FIND_LIB above.
+# Do not check for boost/filesystem.hpp because this file was introduced in
+# 1.34.
+BOOST_DEFUN([Filesystem],
+[# Do we have to check for Boost.System?  This link-time dependency was
+# added as of 1.35.0.  If we have a version <1.35, we must not attempt to
+# find Boost.System as it didn't exist by then.
+if test $boost_major_version -ge 135; then
+BOOST_SYSTEM([$1])
+fi # end of the Boost.System check.
+boost_filesystem_save_LIBS=$LIBS
+boost_filesystem_save_LDFLAGS=$LDFLAGS
+m4_pattern_allow([^BOOST_SYSTEM_(LIBS|LDFLAGS)$])dnl
+LIBS="$LIBS $BOOST_SYSTEM_LIBS"
+LDFLAGS="$LDFLAGS $BOOST_SYSTEM_LDFLAGS"
+BOOST_FIND_LIB([filesystem], [$1],
+                [boost/filesystem/path.hpp], [boost::filesystem::path p;])
+if test $enable_static_boost = yes && test $boost_major_version -ge 135; then
+    AC_SUBST([BOOST_FILESYSTEM_LIBS], ["$BOOST_FILESYSTEM_LIBS $BOOST_SYSTEM_LIBS"])
+fi
+LIBS=$boost_filesystem_save_LIBS
+LDFLAGS=$boost_filesystem_save_LDFLAGS
+])# BOOST_FILESYSTEM
+
+
+# BOOST_FOREACH()
+# ---------------
+# Look for Boost.Foreach
+BOOST_DEFUN([Foreach],
+[BOOST_FIND_HEADER([boost/foreach.hpp])])
+
+
+# BOOST_FORMAT()
+# --------------
+# Look for Boost.Format
+# Note: we can't check for boost/format/format_fwd.hpp because the header isn't
+# standalone.  It can't be compiled because it triggers the following error:
+# boost/format/detail/config_macros.hpp:88: error: 'locale' in namespace 'std'
+#                                                  does not name a type
+BOOST_DEFUN([Format],
+[BOOST_FIND_HEADER([boost/format.hpp])])
+
+
+# BOOST_FUNCTION()
+# ----------------
+# Look for Boost.Function
+BOOST_DEFUN([Function],
+[BOOST_FIND_HEADER([boost/function.hpp])])
+
+
+# BOOST_GEOMETRY()
+# ----------------
+# Look for Boost.Geometry (new since 1.47.0).
+BOOST_DEFUN([Geometry],
+[BOOST_FIND_HEADER([boost/geometry.hpp])
+])# BOOST_GEOMETRY
+
+
+# BOOST_GRAPH([PREFERRED-RT-OPT])
+# -------------------------------
+# Look for Boost.Graphs.  For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Graph],
+[BOOST_FIND_LIB([graph], [$1],
+                [boost/graph/adjacency_list.hpp], [boost::adjacency_list<> g;])
+])# BOOST_GRAPH
+
+
+# BOOST_IOSTREAMS([PREFERRED-RT-OPT])
+# -----------------------------------
+# Look for Boost.IOStreams.  For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([IOStreams],
+[BOOST_FIND_LIB([iostreams], [$1],
+                [boost/iostreams/device/file_descriptor.hpp],
+                [boost::iostreams::file_descriptor fd; fd.close();])
+])# BOOST_IOSTREAMS
+
+
+# BOOST_HASH()
+# ------------
+# Look for Boost.Functional/Hash
+BOOST_DEFUN([Hash],
+[BOOST_FIND_HEADER([boost/functional/hash.hpp])])
+
+
+# BOOST_LAMBDA()
+# --------------
+# Look for Boost.Lambda
+BOOST_DEFUN([Lambda],
+[BOOST_FIND_HEADER([boost/lambda/lambda.hpp])])
+
+
+# BOOST_LOG([PREFERRED-RT-OPT])
+# -----------------------------
+# Look for Boost.Log For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Log],
+[BOOST_FIND_LIB([log], [$1],
+    [boost/log/core/core.hpp],
+    [boost::log::attribute a; a.get_value();])
+])# BOOST_LOG
+
+
+# BOOST_LOG_SETUP([PREFERRED-RT-OPT])
+# -----------------------------------
+# Look for Boost.Log For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Log_Setup],
+[AC_REQUIRE([BOOST_LOG])dnl
+BOOST_FIND_LIB([log_setup], [$1],
+    [boost/log/utility/init/from_settings.hpp],
+    [boost::log::basic_settings<char> bs; bs.empty();])
+])# BOOST_LOG_SETUP
+
+
+# BOOST_MATH()
+# ------------
+# Look for Boost.Math
+# TODO: This library isn't header-only but it comes in multiple different
+# flavors that don't play well with BOOST_FIND_LIB (e.g, libboost_math_c99,
+# libboost_math_c99f, libboost_math_c99l, libboost_math_tr1,
+# libboost_math_tr1f, libboost_math_tr1l).  This macro must be fixed to do the
+# right thing anyway.
+BOOST_DEFUN([Math],
+[BOOST_FIND_HEADER([boost/math/special_functions.hpp])])
+
+
+# BOOST_MULTIARRAY()
+# ------------------
+# Look for Boost.MultiArray
+BOOST_DEFUN([MultiArray],
+[BOOST_FIND_HEADER([boost/multi_array.hpp])])
+
+
+# BOOST_NUMERIC_CONVERSION()
+# --------------------------
+# Look for Boost.NumericConversion (policy-based numeric conversion)
+BOOST_DEFUN([Numeric_Conversion],
+[BOOST_FIND_HEADER([boost/numeric/conversion/converter.hpp])
+])# BOOST_NUMERIC_CONVERSION
+
+
+# BOOST_OPTIONAL()
+# ----------------
+# Look for Boost.Optional
+BOOST_DEFUN([Optional],
+[BOOST_FIND_HEADER([boost/optional.hpp])])
+
+
+# BOOST_PREPROCESSOR()
+# --------------------
+# Look for Boost.Preprocessor
+BOOST_DEFUN([Preprocessor],
+[BOOST_FIND_HEADER([boost/preprocessor/repeat.hpp])])
+
+
+# BOOST_UNORDERED()
+# -----------------
+# Look for Boost.Unordered
+BOOST_DEFUN([Unordered],
+[BOOST_FIND_HEADER([boost/unordered_map.hpp])])
+
+
+# BOOST_UUID()
+# ------------
+# Look for Boost.Uuid
+BOOST_DEFUN([Uuid],
+[BOOST_FIND_HEADER([boost/uuid/uuid.hpp])])
+
+
+# BOOST_PROGRAM_OPTIONS([PREFERRED-RT-OPT])
+# -----------------------------------------
+# Look for Boost.Program_options.  For the documentation of PREFERRED-RT-OPT,
+# see the documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Program_Options],
+[BOOST_FIND_LIB([program_options], [$1],
+                [boost/program_options.hpp],
+                [boost::program_options::options_description d("test");])
+])# BOOST_PROGRAM_OPTIONS
+
+
+
+# _BOOST_PYTHON_CONFIG(VARIABLE, FLAG)
+# ------------------------------------
+# Save VARIABLE, and define it via `python-config --FLAG`.
+# Substitute BOOST_PYTHON_VARIABLE.
+m4_define([_BOOST_PYTHON_CONFIG],
+[AC_SUBST([BOOST_PYTHON_$1],
+          [`python-config --$2 2>/dev/null`])dnl
+boost_python_save_$1=$$1
+$1="$$1 $BOOST_PYTHON_$1"])
+
+
+# BOOST_PYTHON([PREFERRED-RT-OPT])
+# --------------------------------
+# Look for Boost.Python.  For the documentation of PREFERRED-RT-OPT,
+# see the documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Python],
+[_BOOST_PYTHON_CONFIG([CPPFLAGS], [includes])
+_BOOST_PYTHON_CONFIG([LDFLAGS],   [ldflags])
+_BOOST_PYTHON_CONFIG([LIBS],      [libs])
+m4_pattern_allow([^BOOST_PYTHON_MODULE$])dnl
+BOOST_FIND_LIB([python], [$1],
+               [boost/python.hpp],
+               [], [BOOST_PYTHON_MODULE(empty) {}])
+CPPFLAGS=$boost_python_save_CPPFLAGS
+LDFLAGS=$boost_python_save_LDFLAGS
+LIBS=$boost_python_save_LIBS
+])# BOOST_PYTHON
+
+
+# BOOST_REF()
+# -----------
+# Look for Boost.Ref
+BOOST_DEFUN([Ref],
+[BOOST_FIND_HEADER([boost/ref.hpp])])
+
+
+# BOOST_REGEX([PREFERRED-RT-OPT])
+# -------------------------------
+# Look for Boost.Regex.  For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Regex],
+[BOOST_FIND_LIB([regex], [$1],
+                [boost/regex.hpp],
+                [boost::regex exp("*"); boost::regex_match("foo", exp);])
+])# BOOST_REGEX
+
+
+# BOOST_SERIALIZATION([PREFERRED-RT-OPT])
+# ---------------------------------------
+# Look for Boost.Serialization.  For the documentation of PREFERRED-RT-OPT, see
+# the documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Serialization],
+[BOOST_FIND_LIB([serialization], [$1],
+                [boost/archive/text_oarchive.hpp],
+                [std::ostream* o = 0; // Cheap way to get an ostream...
+                boost::archive::text_oarchive t(*o);])
+])# BOOST_SERIALIZATION
+
+
+# BOOST_SIGNALS([PREFERRED-RT-OPT])
+# ---------------------------------
+# Look for Boost.Signals.  For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Signals],
+[BOOST_FIND_LIB([signals], [$1],
+                [boost/signal.hpp],
+                [boost::signal<void ()> s;])
+])# BOOST_SIGNALS
+
+
+# BOOST_SIGNALS2()
+# ----------------
+# Look for Boost.Signals2 (new since 1.39.0).
+BOOST_DEFUN([Signals2],
+[BOOST_FIND_HEADER([boost/signals2.hpp])
+])# BOOST_SIGNALS2
+
+
+# BOOST_SMART_PTR()
+# -----------------
+# Look for Boost.SmartPtr
+BOOST_DEFUN([Smart_Ptr],
+[BOOST_FIND_HEADER([boost/scoped_ptr.hpp])
+BOOST_FIND_HEADER([boost/shared_ptr.hpp])
+])
+
+
+# BOOST_STATICASSERT()
+# --------------------
+# Look for Boost.StaticAssert
+BOOST_DEFUN([StaticAssert],
+[BOOST_FIND_HEADER([boost/static_assert.hpp])])
+
+
+# BOOST_STRING_ALGO()
+# -------------------
+# Look for Boost.StringAlgo
+BOOST_DEFUN([String_Algo],
+[BOOST_FIND_HEADER([boost/algorithm/string.hpp])
+])
+
+
+# BOOST_SYSTEM([PREFERRED-RT-OPT])
+# --------------------------------
+# Look for Boost.System.  For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.  This library was introduced in Boost
+# 1.35.0.
+BOOST_DEFUN([System],
+[BOOST_FIND_LIB([system], [$1],
+                [boost/system/error_code.hpp],
+                [boost::system::error_code e; e.clear();])
+])# BOOST_SYSTEM
+
+
+# BOOST_TEST([PREFERRED-RT-OPT])
+# ------------------------------
+# Look for Boost.Test.  For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Test],
+[m4_pattern_allow([^BOOST_CHECK$])dnl
+BOOST_FIND_LIB([unit_test_framework], [$1],
+               [boost/test/unit_test.hpp], [BOOST_CHECK(2 == 2);],
+               [using boost::unit_test::test_suite;
+               test_suite* init_unit_test_suite(int argc, char ** argv)
+               { return NULL; }])
+])# BOOST_TEST
+
+
+# BOOST_THREADS([PREFERRED-RT-OPT])
+# ---------------------------------
+# Look for Boost.Thread.  For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+# FIXME: Provide an alias "BOOST_THREAD".
+BOOST_DEFUN([Threads],
+[dnl Having the pthread flag is required at least on GCC3 where
+dnl boost/thread.hpp would complain if we try to compile without
+dnl -pthread on GNU/Linux.
+AC_REQUIRE([_BOOST_PTHREAD_FLAG])dnl
+boost_threads_save_LIBS=$LIBS
+boost_threads_save_LDFLAGS=$LDFLAGS
+boost_threads_save_CPPFLAGS=$CPPFLAGS
+# Link-time dependency from thread to system was added as of 1.49.0.
+if test $boost_major_version -ge 149; then
+BOOST_SYSTEM([$1])
+fi # end of the Boost.System check.
+m4_pattern_allow([^BOOST_SYSTEM_(LIBS|LDFLAGS)$])dnl
+LIBS="$LIBS $BOOST_SYSTEM_LIBS $boost_cv_pthread_flag"
+LDFLAGS="$LDFLAGS $BOOST_SYSTEM_LDFLAGS"
+# Yes, we *need* to put the -pthread thing in CPPFLAGS because with GCC3,
+# boost/thread.hpp will trigger a #error if -pthread isn't used:
+#   boost/config/requires_threads.hpp:47:5: #error "Compiler threading support
+#   is not turned on. Please set the correct command line options for
+#   threading: -pthread (Linux), -pthreads (Solaris) or -mthreads (Mingw32)"
+CPPFLAGS="$CPPFLAGS $boost_cv_pthread_flag"
+
+# When compiling for the Windows platform, the threads library is named
+# differently.
+case $host_os in
+  (*mingw*)
+    BOOST_FIND_LIB([thread_win32], [$1],
+                   [boost/thread.hpp], [boost::thread t; boost::mutex m;])
+    BOOST_THREAD_LDFLAGS=$BOOST_THREAD_WIN32_LDFLAGS
+    BOOST_THREAD_LDPATH=$BOOST_THREAD_WIN32_LDPATH
+    BOOST_THREAD_LIBS=$BOOST_THREAD_WIN32_LIBS
+  ;;
+  (*)
+    BOOST_FIND_LIB([thread], [$1],
+                   [boost/thread.hpp], [boost::thread t; boost::mutex m;])
+  ;;
+esac
+
+BOOST_THREAD_LIBS="$BOOST_THREAD_LIBS $BOOST_SYSTEM_LIBS $boost_cv_pthread_flag"
+BOOST_THREAD_LDFLAGS="$BOOST_SYSTEM_LDFLAGS"
+BOOST_CPPFLAGS="$BOOST_CPPFLAGS $boost_cv_pthread_flag"
+LIBS=$boost_threads_save_LIBS
+LDFLAGS=$boost_threads_save_LDFLAGS
+CPPFLAGS=$boost_threads_save_CPPFLAGS
+])# BOOST_THREADS
+
+
+# BOOST_TOKENIZER()
+# -----------------
+# Look for Boost.Tokenizer
+BOOST_DEFUN([Tokenizer],
+[BOOST_FIND_HEADER([boost/tokenizer.hpp])])
+
+
+# BOOST_TRIBOOL()
+# ---------------
+# Look for Boost.Tribool
+BOOST_DEFUN([Tribool],
+[BOOST_FIND_HEADER([boost/logic/tribool_fwd.hpp])
+BOOST_FIND_HEADER([boost/logic/tribool.hpp])
+])
+
+
+# BOOST_TUPLE()
+# -------------
+# Look for Boost.Tuple
+BOOST_DEFUN([Tuple],
+[BOOST_FIND_HEADER([boost/tuple/tuple.hpp])])
+
+
+# BOOST_TYPETRAITS()
+# --------------------
+# Look for Boost.TypeTraits
+BOOST_DEFUN([TypeTraits],
+[BOOST_FIND_HEADER([boost/type_traits.hpp])])
+
+
+# BOOST_UTILITY()
+# ---------------
+# Look for Boost.Utility (noncopyable, result_of, base-from-member idiom,
+# etc.)
+BOOST_DEFUN([Utility],
+[BOOST_FIND_HEADER([boost/utility.hpp])])
+
+
+# BOOST_VARIANT()
+# ---------------
+# Look for Boost.Variant.
+BOOST_DEFUN([Variant],
+[BOOST_FIND_HEADER([boost/variant/variant_fwd.hpp])
+BOOST_FIND_HEADER([boost/variant.hpp])])
+
+# BOOST_POINTERCONTAINER()
+# ------------------------
+# Look for Boost.PointerContainer
+BOOST_DEFUN([Pointer_Container],
+[BOOST_FIND_HEADER([boost/ptr_container/ptr_deque.hpp])
+BOOST_FIND_HEADER([boost/ptr_container/ptr_list.hpp])
+BOOST_FIND_HEADER([boost/ptr_container/ptr_vector.hpp])
+BOOST_FIND_HEADER([boost/ptr_container/ptr_array.hpp])
+BOOST_FIND_HEADER([boost/ptr_container/ptr_set.hpp])
+BOOST_FIND_HEADER([boost/ptr_container/ptr_map.hpp])
+])# BOOST_POINTERCONTAINER
+
+# BOOST_WAVE([PREFERRED-RT-OPT])
+# ------------------------------
+# NOTE: If you intend to use Wave/Spirit with thread support, make sure you
+# call BOOST_THREADS first.
+# Look for Boost.Wave.  For the documentation of PREFERRED-RT-OPT, see the
+# documentation of BOOST_FIND_LIB above.
+BOOST_DEFUN([Wave],
+[AC_REQUIRE([BOOST_FILESYSTEM])dnl
+AC_REQUIRE([BOOST_DATE_TIME])dnl
+boost_wave_save_LIBS=$LIBS
+boost_wave_save_LDFLAGS=$LDFLAGS
+m4_pattern_allow([^BOOST_((FILE)?SYSTEM|DATE_TIME|THREAD)_(LIBS|LDFLAGS)$])dnl
+LIBS="$LIBS $BOOST_SYSTEM_LIBS $BOOST_FILESYSTEM_LIBS $BOOST_DATE_TIME_LIBS \
+$BOOST_THREAD_LIBS"
+LDFLAGS="$LDFLAGS $BOOST_SYSTEM_LDFLAGS $BOOST_FILESYSTEM_LDFLAGS \
+$BOOST_DATE_TIME_LDFLAGS $BOOST_THREAD_LDFLAGS"
+BOOST_FIND_LIB([wave], [$1],
+                [boost/wave.hpp],
+                [boost::wave::token_id id; get_token_name(id);])
+LIBS=$boost_wave_save_LIBS
+LDFLAGS=$boost_wave_save_LDFLAGS
+])# BOOST_WAVE
+
+
+# BOOST_XPRESSIVE()
+# -----------------
+# Look for Boost.Xpressive (new since 1.36.0).
+BOOST_DEFUN([Xpressive],
+[BOOST_FIND_HEADER([boost/xpressive/xpressive.hpp])])
+
+
+# ----------------- #
+# Internal helpers. #
+# ----------------- #
+
+
+# _BOOST_PTHREAD_FLAG()
+# ---------------------
+# Internal helper for BOOST_THREADS.  Based on ACX_PTHREAD:
+# http://autoconf-archive.cryp.to/acx_pthread.html
+AC_DEFUN([_BOOST_PTHREAD_FLAG],
+[AC_REQUIRE([AC_PROG_CXX])dnl
+AC_REQUIRE([AC_CANONICAL_HOST])dnl
+AC_LANG_PUSH([C++])dnl
+AC_CACHE_CHECK([for the flags needed to use pthreads], [boost_cv_pthread_flag],
+[ boost_cv_pthread_flag=
+  # The ordering *is* (sometimes) important.  Some notes on the
+  # individual items follow:
+  # (none): in case threads are in libc; should be tried before -Kthread and
+  #       other compiler flags to prevent continual compiler warnings
+  # -lpthreads: AIX (must check this before -lpthread)
+  # -Kthread: Sequent (threads in libc, but -Kthread needed for pthread.h)
+  # -kthread: FreeBSD kernel threads (preferred to -pthread since SMP-able)
+  # -llthread: LinuxThreads port on FreeBSD (also preferred to -pthread)
+  # -pthread: GNU Linux/GCC (kernel threads), BSD/GCC (userland threads)
+  # -pthreads: Solaris/GCC
+  # -mthreads: MinGW32/GCC, Lynx/GCC
+  # -mt: Sun Workshop C (may only link SunOS threads [-lthread], but it
+  #      doesn't hurt to check since this sometimes defines pthreads too;
+  #      also defines -D_REENTRANT)
+  #      ... -mt is also the pthreads flag for HP/aCC
+  # -lpthread: GNU Linux, etc.
+  # --thread-safe: KAI C++
+  case $host_os in #(
+    *solaris*)
+      # On Solaris (at least, for some versions), libc contains stubbed
+      # (non-functional) versions of the pthreads routines, so link-based
+      # tests will erroneously succeed.  (We need to link with -pthreads/-mt/
+      # -lpthread.)  (The stubs are missing pthread_cleanup_push, or rather
+      # a function called by this macro, so we could check for that, but
+      # who knows whether they'll stub that too in a future libc.)  So,
+      # we'll just look for -pthreads and -lpthread first:
+      boost_pthread_flags="-pthreads -lpthread -mt -pthread";; #(
+    *)
+      boost_pthread_flags="-lpthreads -Kthread -kthread -llthread -pthread \
+                           -pthreads -mthreads -lpthread --thread-safe -mt";;
+  esac
+  # Generate the test file.
+  AC_LANG_CONFTEST([AC_LANG_PROGRAM([#include <pthread.h>],
+    [pthread_t th; pthread_join(th, 0);
+    pthread_attr_init(0); pthread_cleanup_push(0, 0);
+    pthread_create(0,0,0,0); pthread_cleanup_pop(0);])])
+  for boost_pthread_flag in '' $boost_pthread_flags; do
+    boost_pthread_ok=false
+dnl Re-use the test file already generated.
+    boost_pthreads__save_LIBS=$LIBS
+    LIBS="$LIBS $boost_pthread_flag"
+    AC_LINK_IFELSE([],
+      [if grep ".*$boost_pthread_flag" conftest.err; then
+         echo "This flag seems to have triggered warnings" >&AS_MESSAGE_LOG_FD
+       else
+         boost_pthread_ok=:; boost_cv_pthread_flag=$boost_pthread_flag
+       fi])
+    LIBS=$boost_pthreads__save_LIBS
+    $boost_pthread_ok && break
+  done
+])
+AC_LANG_POP([C++])dnl
+])# _BOOST_PTHREAD_FLAG
+
+
+# _BOOST_gcc_test(MAJOR, MINOR)
+# -----------------------------
+# Internal helper for _BOOST_FIND_COMPILER_TAG.
+m4_define([_BOOST_gcc_test],
+["defined __GNUC__ && __GNUC__ == $1 && __GNUC_MINOR__ == $2 && !defined __ICC @ gcc$1$2"])dnl
+
+
+# _BOOST_FIND_COMPILER_TAG()
+# --------------------------
+# Internal.  When Boost is installed without --layout=system, each library
+# filename will hold a suffix that encodes the compiler used during the
+# build.  The Boost build system seems to call this a `tag'.
+AC_DEFUN([_BOOST_FIND_COMPILER_TAG],
+[AC_REQUIRE([AC_PROG_CXX])dnl
+AC_REQUIRE([AC_CANONICAL_HOST])dnl
+AC_CACHE_CHECK([for the toolset name used by Boost for $CXX], [boost_cv_lib_tag],
+[boost_cv_lib_tag=unknown
+if test x$boost_cv_inc_path != xno; then
+  AC_LANG_PUSH([C++])dnl
+  # The following tests are mostly inspired by boost/config/auto_link.hpp
+  # The list is sorted to most recent/common to oldest compiler (in order
+  # to increase the likelihood of finding the right compiler with the
+  # least number of compilation attempt).
+  # Beware that some tests are sensible to the order (for instance, we must
+  # look for MinGW before looking for GCC3).
+  # I used one compilation test per compiler with a #error to recognize
+  # each compiler so that it works even when cross-compiling (let me know
+  # if you know a better approach).
+  # Known missing tags (known from Boost's tools/build/v2/tools/common.jam):
+  #   como, edg, kcc, bck, mp, sw, tru, xlc
+  # I'm not sure about my test for `il' (be careful: Intel's ICC pre-defines
+  # the same defines as GCC's).
+  for i in \
+    _BOOST_gcc_test(4, 8) \
+    _BOOST_gcc_test(4, 7) \
+    _BOOST_gcc_test(4, 6) \
+    _BOOST_gcc_test(4, 5) \
+    _BOOST_gcc_test(4, 4) \
+    _BOOST_gcc_test(4, 3) \
+    _BOOST_gcc_test(4, 2) \
+    _BOOST_gcc_test(4, 1) \
+    _BOOST_gcc_test(4, 0) \
+    "defined __GNUC__ && __GNUC__ == 3 && !defined __ICC \
+     && (defined WIN32 || defined WINNT || defined _WIN32 || defined __WIN32 \
+         || defined __WIN32__ || defined __WINNT || defined __WINNT__) @ mgw" \
+    _BOOST_gcc_test(3, 4) \
+    _BOOST_gcc_test(3, 3) \
+    "defined _MSC_VER && _MSC_VER >= 1500 @ vc90" \
+    "defined _MSC_VER && _MSC_VER == 1400 @ vc80" \
+    _BOOST_gcc_test(3, 2) \
+    "defined _MSC_VER && _MSC_VER == 1310 @ vc71" \
+    _BOOST_gcc_test(3, 1) \
+    _BOOST_gcc_test(3, 0) \
+    "defined __BORLANDC__ @ bcb" \
+    "defined __ICC && (defined __unix || defined __unix__) @ il" \
+    "defined __ICL @ iw" \
+    "defined _MSC_VER && _MSC_VER == 1300 @ vc7" \
+    _BOOST_gcc_test(2, 95) \
+    "defined __MWERKS__ && __MWERKS__ <= 0x32FF @ cw9" \
+    "defined _MSC_VER && _MSC_VER < 1300 && !defined UNDER_CE @ vc6" \
+    "defined _MSC_VER && _MSC_VER < 1300 && defined UNDER_CE @ evc4" \
+    "defined __MWERKS__ && __MWERKS__ <= 0x31FF @ cw8"
+  do
+    boost_tag_test=`expr "X$i" : 'X\([[^@]]*\) @ '`
+    boost_tag=`expr "X$i" : 'X[[^@]]* @ \(.*\)'`
+    AC_COMPILE_IFELSE([AC_LANG_PROGRAM([[
+#if $boost_tag_test
+/* OK */
+#else
+# error $boost_tag_test
+#endif
+]])], [boost_cv_lib_tag=$boost_tag; break], [])
+  done
+AC_LANG_POP([C++])dnl
+  case $boost_cv_lib_tag in #(
+    # Some newer (>= 1.35?) versions of Boost seem to only use "gcc" as opposed
+    # to "gcc41" for instance.
+    *-gcc | *'-gcc ') :;; #(  Don't re-add -gcc: it's already in there.
+    gcc*)
+      boost_tag_x=
+      case $host_os in #(
+        darwin*)
+          if test $boost_major_version -ge 136; then
+            # The `x' added in r46793 of Boost.
+            boost_tag_x=x
+          fi;;
+      esac
+      # We can specify multiple tags in this variable because it's used by
+      # BOOST_FIND_LIB that does a `for tag in -$boost_cv_lib_tag' ...
+      boost_cv_lib_tag="$boost_tag_x$boost_cv_lib_tag -${boost_tag_x}gcc"
+      ;; #(
+    unknown)
+      AC_MSG_WARN([[could not figure out which toolset name to use for $CXX]])
+      boost_cv_lib_tag=
+      ;;
+  esac
+fi])dnl end of AC_CACHE_CHECK
+])# _BOOST_FIND_COMPILER_TAG
+
+
+# _BOOST_GUESS_WHETHER_TO_USE_MT()
+# --------------------------------
+# Compile a small test to try to guess whether we should favor MT (Multi
+# Thread) flavors of Boost.  Sets boost_guess_use_mt accordingly.
+AC_DEFUN([_BOOST_GUESS_WHETHER_TO_USE_MT],
+[# Check whether we do better use `mt' even though we weren't ask to.
+AC_COMPILE_IFELSE([AC_LANG_PROGRAM([[
+#if defined _REENTRANT || defined _MT || defined __MT__
+/* use -mt */
+#else
+# error MT not needed
+#endif
+]])], [boost_guess_use_mt=:], [boost_guess_use_mt=false])
+])
+
+# _BOOST_AC_LINK_IFELSE(PROGRAM, [ACTION-IF-TRUE], [ACTION-IF-FALSE])
+# -------------------------------------------------------------------
+# Fork of _AC_LINK_IFELSE that preserves conftest.o across calls.  Fragile,
+# will break when Autoconf changes its internals.  Requires that you manually
+# rm -f conftest.$ac_objext in between to really different tests, otherwise
+# you will try to link a conftest.o left behind by a previous test.
+# Used to aggressively optimize BOOST_FIND_LIB (see the big comment in this
+# macro).
+#
+# Don't use "break" in the actions, as it would short-circuit some code
+# this macro runs after the actions.
+m4_define([_BOOST_AC_LINK_IFELSE],
+[m4_ifvaln([$1], [AC_LANG_CONFTEST([$1])])dnl
+rm -f conftest$ac_exeext
+boost_save_ac_ext=$ac_ext
+boost_use_source=:
+# If we already have a .o, re-use it.  We change $ac_ext so that $ac_link
+# tries to link the existing object file instead of compiling from source.
+test -f conftest.$ac_objext && ac_ext=$ac_objext && boost_use_source=false &&
+  _AS_ECHO_LOG([re-using the existing conftest.$ac_objext])
+AS_IF([_AC_DO_STDERR($ac_link) && {
+	 test -z "$ac_[]_AC_LANG_ABBREV[]_werror_flag" ||
+	 test ! -s conftest.err
+       } && test -s conftest$ac_exeext && {
+	 test "$cross_compiling" = yes ||
+	 $as_executable_p conftest$ac_exeext
+dnl FIXME: use AS_TEST_X instead when 2.61 is widespread enough.
+       }],
+      [$2],
+      [if $boost_use_source; then
+         _AC_MSG_LOG_CONFTEST
+       fi
+       $3])
+ac_objext=$boost_save_ac_objext
+ac_ext=$boost_save_ac_ext
+dnl Delete also the IPA/IPO (Inter Procedural Analysis/Optimization)
+dnl information created by the PGI compiler (conftest_ipa8_conftest.oo),
+dnl as it would interfere with the next link command.
+rm -f core conftest.err conftest_ipa8_conftest.oo \
+      conftest$ac_exeext m4_ifval([$1], [conftest.$ac_ext])[]dnl
+])# _BOOST_AC_LINK_IFELSE
+
+# Local Variables:
+# mode: autoconf
+# End:
diff --git a/src/Makefile.am b/src/Makefile.am
new file mode 100644
index 0000000..ae311c6
--- /dev/null
+++ b/src/Makefile.am
@@ -0,0 +1,97 @@
+# Makefile.am -- automake script for the car plugin
+# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003,
+#     2004, 2005, 2006, 2007, 2008, 2009, 2010, 2011  Free Software Foundation,
+#     Inc.
+# Copyright (C) 2013  Galois, Inc.
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU 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 General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+# or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+# Oregon, 97204-1622.
+
+# We're building a library that gets loaded by dlopen, not a standard .so.
+AM_LDFLAGS = \
+	-avoid-version -module -shared -export-dynamic
+
+lib_LTLIBRARIES = libv_repExtAutomobile.la
+libv_repExtAutomobile_la_SOURCES = \
+	$(srcdir)/automobile.cpp \
+	$(srcdir)/automobile.h \
+	$(srcdir)/csv.cpp \
+	$(srcdir)/csv.h \
+	$(srcdir)/csv-inl.h \
+	$(srcdir)/main.cpp \
+	$(srcdir)/main.h \
+	$(srcdir)/measurement.cpp \
+	$(srcdir)/measurement.h \
+	$(srcdir)/measurement-inl.h \
+	$(srcdir)/noise.cpp \
+	$(srcdir)/noise.h \
+	$(srcdir)/noise-inl.h \
+	$(srcdir)/vrep.cpp \
+	$(srcdir)/vrep.h \
+	$(srcdir)/vrep-inl.h \
+	$(srcdir)/vrepFfi.cpp \
+	$(srcdir)/vrepFfi.h \
+	$(srcdir)/vrepFfi-inl.h
+libv_repExtAutomobile_la_CPPFLAGS = \
+	$(BOOST_CPPFLAGS)
+libv_repExtAutomobile_la_CXXFLAGS = \
+	-Wall \
+	-Wextra \
+	-pedantic \
+	@VREP_CXXFLAGS@
+libv_repExtAutomobile_la_LDFLAGS = \
+	$(AM_LDFLAGS) \
+	-export-symbols-regex '^v_rep' \
+	$(BOOST_FILESYSTEM_LDFLAGS)
+libv_repExtAutomobile_la_LIBADD = \
+	$(BOOST_FILESYSTEM_LIBS)
+
+# In addition to these sources, we also need to bundle a special object built
+# from code in the V-REP distribution.  Ideally, I'd just add that source file
+# to 'libv_repExtAutomobile_la_SOURCES', but it's not exactly
+# standards-compliant and generates a ton of warnings.  To get around this, use
+# per-object flags emulation (see "Per-Object Flags Emulation" in the Automake
+# manual).
+libv_repExtAutomobile_la_LIBADD += libv_repLib.la
+noinst_LTLIBRARIES = libv_repLib.la
+libv_repLib_la_SOURCES = @VREP@/programming/common/v_repLib.cpp
+libv_repLib_la_CXXFLAGS = @VREP_CXXFLAGS@
+
+# Override install and uninstall targets to stick the libraries in the V-REP
+# directory.
+install-libLTLIBRARIES: $(lib_LTLIBRARIES)
+	@$(NORMAL_INSTALL)
+	@list='$(lib_LTLIBRARIES)'; test -n "$(libdir)" || list=; \
+	list2=; for p in $$list; do \
+	  if test -f $$p; then \
+	    list2="$$list2 $$p"; \
+	  else :; fi; \
+	done; \
+	test -z "$$list2" || { \
+	  echo " $(MKDIR_P) '$(VREP)'"; \
+	  $(MKDIR_P) "$(VREP)" || exit 1; \
+	  echo " $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=install --no-warn $(INSTALL) $(INSTALL_STRIP_FLAG) $$list2 '$(VREP)'"; \
+	  $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=install --no-warn $(INSTALL) $(INSTALL_STRIP_FLAG) $$list2 "$(VREP)"; \
+	}
+uninstall-libLTLIBRARIES:
+	@$(NORMAL_UNINSTALL)
+	@list='$(lib_LTLIBRARIES)'; test -n "$(libdir)" || list=; \
+	for p in $$list; do \
+	  $(am__strip_dir) \
+	  echo " $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=uninstall rm -f '$(VREP)/$$f'"; \
+	  $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=uninstall rm -f "$(VREP)/$$f"; \
+	done
diff --git a/src/automobile.cpp b/src/automobile.cpp
new file mode 100644
index 0000000..365c96b
--- /dev/null
+++ b/src/automobile.cpp
@@ -0,0 +1,403 @@
+/* automobile.cpp -- recording data about the car
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+/* This module assumes only one car is recording data at once.  Thus, it follows
+ * a singleton object pattern.  To keep everything a bit simpler, the state
+ * variables live in an anonymous namespace, and the functions simply mutate
+ * them as appropriate. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <cassert>
+#include <cstdarg>
+
+#include <array>
+#include <fstream>
+#include <functional>
+#include <string>
+#include <vector>
+
+#include <boost/filesystem.hpp>
+#include <boost/optional.hpp>
+#include <v_repLib.h>
+
+#include "automobile.h"
+#include "noise.h"
+#include "vrepFfi.h"
+
+#ifndef HAVE_CXX11_INITIALIZER_LISTS
+#   include <cassert>
+#   include <list>
+#endif
+
+
+namespace {
+
+    // Paths to the output files
+    namespace path {
+
+        std::string dataDir = "/tmp";
+
+        const std::string groundDir = "/ground";
+        const std::string noisyDir = "/noisy";
+
+        const std::string properties = "/properties.csv";
+        const std::string sensor = "/slam_sensor.csv";
+        const std::string pose = "/slam_gps.csv";
+        const std::string control = "/slam_control.csv";
+        const std::string laser = "/slam_laser.csv";
+
+    }
+
+    // Run specifications
+    struct Properties : public csv::Datum {
+        inline Properties(float L, float h, float a, float b, float theta0)
+            : L(L), h(h), a(a), b(b), theta0(theta0) {
+        }
+        inline virtual std::string csvHeader() const;
+        virtual std::string csv() const;
+        inline virtual unsigned int nCols() const;
+        // Distance between front and rear axles
+        float L;
+        // Distance between center of rear axle and encoder on left rear wheel
+        float h;
+        // Lengthwise distance between the rear axle and the lidar
+        float a;
+        // Widthwise distance between the rear axle and the lidar
+        float b;
+        // Initial angle of the car
+        float theta0;
+    };
+
+    // Individual sample records
+    struct Sample : public csv::Datum {
+        inline explicit Sample(const Pose &);
+        inline explicit Sample(const ControlSignals &);
+        inline explicit Sample(const LidarDatum &);
+        inline virtual std::string csvHeader() const;
+        inline virtual std::string csv() const;
+        inline virtual unsigned int nCols() const;
+        float time;
+        unsigned short sensorId;
+    };
+
+
+    // Lidar specifications //
+    namespace laser {
+
+        float MAX_DISTANCE = 10.;
+        float MAX_INTENSITY = 32768.;
+
+    }
+
+
+    // Noise //
+    namespace noise {
+
+        bool requested = false;
+
+        // Dummy noise source that provides no noise
+        GaussianNoiseSource<float> none(0., 0.);
+
+        // Noise sources for the various measurements (can be set via Lua)
+        boost::optional<GaussianNoiseSource<float>> position;
+        boost::optional<GaussianNoiseSource<float>> angle;
+        boost::optional<GaussianNoiseSource<float>> speed;
+        boost::optional<GaussianNoiseSource<float>> steeringAngle;
+        boost::optional<GaussianNoiseSource<float>> distance;
+        boost::optional<GaussianNoiseSource<float>> intensity;
+
+    }
+
+
+    // Prototypes //
+
+    // Lua callbacks
+    typedef simVoid LuaFunc(SLuaCallBack *);
+    LuaFunc init;
+    LuaFunc setNoiseParameters;
+    LuaFunc savePose;
+    LuaFunc saveControls;
+    LuaFunc saveLaser;
+
+    inline void savePropertiesFile(const Properties &);
+
+    template<typename CsvDatum>
+    inline void saveDatum(const std::string &subdir,
+                          const std::string &filename, const CsvDatum &);
+
+    void outputDatum(const std::string &filePath, const csv::Datum &);
+
+}
+
+
+// Registering //
+
+void registerLuaFunctions() {
+    vrep::exposeFunction<
+        std::string,
+        float,
+        float,
+        float,
+        float,
+        float,
+        float,
+        float>(
+        "simExtAutomobileInit",
+        "simExtAutomobileInit(string directoryName, number L, number h, number a, number b, number theta0, number max_distance, number max_intensity)",
+        init);
+    vrep::exposeFunction<
+        std::vector<float>,     // x and y
+        std::vector<float>,     // angle
+        std::vector<float>,     // speed
+        std::vector<float>,     // steering angle
+        std::vector<float>,     // distance
+        std::vector<float>>(    // intensity
+            "simExtAutomobileRequestNoise",
+            "simExtAutomobileRequestNoise(table2 xy, table2 angle, table2 speed, table2 steeringAngle, table2 distance, table2 intensity)",
+        setNoiseParameters);
+    vrep::exposeFunction<float, float, float, float>(
+        "simExtAutomobileSavePose",
+        "simExtAutomobileSavePose(number simulationTime, number x, number y, number theta)",
+        savePose);
+    vrep::exposeFunction<float, float, float>(
+        "simExtAutomobileSaveControls",
+        "simExtAutomobileSaveControls(number simulationTime, number speed, number steeringAngle)",
+        saveControls);
+    /* V-REP's depth sensor part has a maximum field of view narrower than 180
+     * degrees.  To compensate, we instead use two 90-degree depth sensors and
+     * combine the results here. */
+    vrep::exposeFunction<
+        float,
+        std::vector<float>, std::vector<float>,  // depths
+        std::vector<float>, std::vector<float>>( // grayscale images
+            "simExtAutomobileSaveLaserPair",
+            "simExtAutomobileSaveLaserPair(number simulationTime, table leftDepthBuffer, table rightDepthBuffer, table leftImage, table rightImage)",
+            saveLaser);
+}
+
+
+// Callbacks //
+namespace {
+
+    std::string Properties::csvHeader() const {
+#       ifdef HAVE_CXX11_INITIALIZER_LISTS
+            return csv::fromContainer(
+                std::vector<std::string> {"L", "h", "a", "b", "InitialAngle"});
+#       else
+            return csv::fromContainer(
+                makeList<const char *>(nCols(), "L", "h", "a", "b",
+                                       "InitialAngle"));
+#       endif
+    }
+
+    std::string Properties::csv() const {
+#       ifdef HAVE_CXX11_INITIALIZER_LISTS
+            return csv::fromContainer(
+                std::vector<float> {L, h, a, b, theta0});
+#       else
+            return csv::fromContainer(
+                makeList<float>(nCols(), L, h, a, b, theta0));
+#       endif
+    }
+
+    unsigned int Properties::nCols() const {
+        return 5;
+    }
+
+    Sample::Sample(const Pose &pose)
+        : time(pose.time), sensorId(1) {
+    }
+
+    Sample::Sample(const ControlSignals &signals)
+        : time(signals.time), sensorId(2) {
+    }
+
+    Sample::Sample(const LidarDatum &datum)
+        : time(datum.time), sensorId(3) {
+    }
+
+    std::string Sample::csvHeader() const {
+        return "Time,Sensor";
+    }
+
+    std::string Sample::csv() const {
+        return std::to_string(time) + "," + std::to_string(sensorId);
+    }
+
+    unsigned int Sample::nCols() const {
+        return 2;
+    }
+
+    simVoid init(SLuaCallBack *const simCall) {
+        // Clean data from previous runs.
+        boost::filesystem::remove_all(path::dataDir + path::groundDir);
+        boost::filesystem::remove_all(path::dataDir + path::noisyDir);
+        boost::filesystem::remove(path::dataDir + path::properties);
+        // Save the passed directory as the base directory for the output.
+        vrep::LuaCall call(simCall);
+        path::dataDir = call.expectAtom<std::string>();
+        // Save the passed properties in the properties file.
+        const float L = call.expectAtom<float>();
+        const float h = call.expectAtom<float>();
+        const float a = call.expectAtom<float>();
+        const float b = call.expectAtom<float>();
+        const float theta0 = call.expectAtom<float>();
+        savePropertiesFile(Properties(L, h, a, b, theta0));
+        // Save the maximum distance and intensity settings.
+        laser::MAX_DISTANCE = call.expectAtom<float>();
+        laser::MAX_INTENSITY = call.expectAtom<float>();
+        // Reset the noise settings.
+        noise::requested = false;
+        const std::array<boost::optional<GaussianNoiseSource<float>> *const, 6> sources =
+            {{&noise::position, &noise::angle, &noise::speed,
+              &noise::steeringAngle, &noise::intensity, &noise::distance}};
+        for (boost::optional<GaussianNoiseSource<float>> *const source : sources) {
+            *source = boost::none;
+        }
+    }
+
+    simVoid setNoiseParameters(SLuaCallBack *const simCall) {
+        vrep::LuaCall call(simCall);
+        const std::array<boost::optional<GaussianNoiseSource<float>> *const, 6> sources =
+            {{&noise::position, &noise::angle, &noise::speed,
+              &noise::steeringAngle, &noise::intensity, &noise::distance}};
+        for (boost::optional<GaussianNoiseSource<float>> *const source : sources) {
+            *source = gaussian(call.expectTable<float>());
+        }
+        noise::requested = true;
+    }
+
+    simVoid savePose(SLuaCallBack *const simCall) {
+        // Build the pose.
+        vrep::LuaCall call(simCall);
+        const float time = call.expectAtom<float>();
+        const float x = call.expectAtom<float>();
+        const float y = call.expectAtom<float>();
+        const float theta = call.expectAtom<float>();
+        const Pose pose(time, x, y, theta);
+        // Record it.
+        saveDatum(path::groundDir, path::pose, pose);
+        if (noise::requested) {
+            saveDatum(path::noisyDir, path::pose,
+                      addNoise(pose, noise::position.get_value_or(noise::none),
+                               noise::angle.get_value_or(noise::none)));
+        }
+    }
+
+    simVoid saveControls(SLuaCallBack *const simCall) {
+        // Build the control systems object.
+        vrep::LuaCall call(simCall);
+        const float time = call.expectAtom<float>();
+        const float speed = call.expectAtom<float>();
+        const float angle = call.expectAtom<float>();
+        const ControlSignals signals(time, speed, angle);
+        // Record it.
+        saveDatum(path::groundDir, path::control, signals);
+        if (noise::requested) {
+            saveDatum(path::noisyDir, path::control,
+                      addNoise(signals, noise::speed.get_value_or(noise::none),
+                               noise::steeringAngle.get_value_or(noise::none)));
+        }
+    }
+
+    simVoid saveLaser(SLuaCallBack *const simCall) {
+        // Get the arguments and reconstruct the full lidar measurements.
+        vrep::LuaCall call(simCall);
+        const float time = call.expectAtom<float>();
+        std::vector<float> distance = call.expectTable<float>();
+        const std::vector<float> distanceRight = call.expectTable<float>();
+        distance.insert(distance.end(),
+                        distanceRight.begin(), distanceRight.end());
+        std::vector<float> image = call.expectTable<float>();
+        const std::vector<float> imageRight = call.expectTable<float>();
+        image.insert(image.end(), imageRight.begin(), imageRight.end());
+        // Process the lidar measurements.
+#       ifdef HAVE_CXX11_CLOSURES
+            std::for_each(distance.begin(), distance.end(),
+                          [](float &d) { d *= laser::MAX_DISTANCE; });
+            std::for_each(image.begin(), image.end(),
+                          [](float &i) { i *= laser::MAX_INTENSITY; });
+#       else
+            for (float &d : distance) {
+                d *= laser::MAX_DISTANCE;
+            }
+            for (float &i : image) {
+                i *= laser::MAX_INTENSITY;
+            }
+#       endif
+        // Build the lidar datum and record it.
+        const LidarDatum datum(time, distance, image);
+        saveDatum(path::groundDir, path::laser, datum);
+        if (noise::requested) {
+            saveDatum(path::noisyDir, path::laser,
+                      addNoise(datum, noise::distance.get_value_or(noise::none),
+                               noise::intensity.get_value_or(noise::none)));
+        }
+    }
+
+    void savePropertiesFile(const Properties &properties) {
+        boost::filesystem::create_directories(path::dataDir);
+        outputDatum(path::dataDir + path::properties, properties);
+    }
+
+    template<typename CsvDatum>
+    void saveDatum(const std::string &subdir, const std::string &filename,
+                   const CsvDatum &datum) {
+        const std::string logDir = path::dataDir + subdir;
+        boost::filesystem::create_directories(logDir);
+        outputDatum(logDir + filename, datum);
+        outputDatum(logDir + path::sensor, Sample(datum));
+    }
+
+    void outputDatum(const std::string &filePath, const csv::Datum &datum) {
+        const std::string header = datum.csvHeader();
+        std::fstream file(filePath,
+                          std::ios::in | std::ios::out | std::ios::app);
+        // Ensure we're writing correctly-formatted data.
+        std::string firstLine;
+        std::getline(file, firstLine);
+        if (file.eof() && firstLine.empty()) {
+            // The file was empty, so write in the header.
+            file.clear();
+            file << header << std::endl;
+        } else if (firstLine != header) {
+            /* The file was nonempty, but the first line did not match the
+             * expected header.  This might occur if an external program
+             * modifies the file in between our writes, but more likely, we've
+             * got a bug somewhere that is causing us to write different data
+             * sets to the same file. */
+            throw std::logic_error(
+                std::string("CSV header mismatch: expected `")
+                + header
+                + "', but got `"
+                + firstLine
+                + "'");
+        } else {
+            /* The file was nonempty, and the headers matched what we expected.
+             * We're good to go. */
+        }
+        // Write the datum.
+        file << datum.csv() << std::endl;
+    }
+
+}
diff --git a/src/automobile.h b/src/automobile.h
new file mode 100644
index 0000000..0d3d2c1
--- /dev/null
+++ b/src/automobile.h
@@ -0,0 +1,30 @@
+/* automobile.h -- recording data about the car
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_AUTOMOBILE_H
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_AUTOMOBILE_H
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+void registerLuaFunctions();
+
+#endif
diff --git a/src/csv-inl.h b/src/csv-inl.h
new file mode 100644
index 0000000..c1b7cb9
--- /dev/null
+++ b/src/csv-inl.h
@@ -0,0 +1,58 @@
+/* csv-inl.h -- CSV utilities
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_CSV_INL_H
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_CSV_INL_H
+
+namespace csv {
+
+    template<typename SequenceContainer>
+    std::string fromContainer(const SequenceContainer &columns) {
+        std::ostringstream line;
+        for (typename SequenceContainer::const_iterator col = columns.begin();
+             col != columns.end();
+             col++) {
+            if (col != columns.begin()) {
+                line << ",";
+            }
+            line << *col;
+        }
+        return line.str();
+    }
+
+}
+
+#ifndef HAVE_CXX11_INITIALIZER_LISTS
+
+    template<typename T>
+    std::list<T> makeList(typename std::list<T>::size_type size, ...) {
+        std::list<T> result;
+        va_list args;
+        va_start(args, size);
+        for (typename std::list<T>::size_type i = 0; i < size; i++) {
+            result.push_back(va_arg(args, T));
+        }
+        va_end(args);
+        return result;
+    }
+
+#endif
+
+#endif
diff --git a/src/csv.cpp b/src/csv.cpp
new file mode 100644
index 0000000..88d08b3
--- /dev/null
+++ b/src/csv.cpp
@@ -0,0 +1,48 @@
+/* csv.h -- CSV utilities
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#ifndef HAVE_CXX11_INITIALIZER_LISTS
+#   include <cstdarg>
+#   include <list>
+#   include <sstream>
+#endif
+
+#include "csv.h"
+
+#ifndef HAVE_CXX11_INITIALIZER_LISTS
+
+    std::list<float> makeList(typename std::list<float>::size_type size, ...) {
+        std::list<float> result;
+        va_list args;
+        va_start(args, size);
+        for (typename std::list<double>::size_type i = 0;
+             i < static_cast<std::list<double>::size_type>(size);
+             i++) {
+            result.push_back(va_arg(args, double));
+        }
+        va_end(args);
+        return result;
+    }
+
+#endif
diff --git a/src/csv.h b/src/csv.h
new file mode 100644
index 0000000..fd46646
--- /dev/null
+++ b/src/csv.h
@@ -0,0 +1,71 @@
+/* csv.h -- CSV utilities
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_CSV_H
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_CSV_H
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <string>
+#include <sstream>
+
+#ifndef HAVE_CXX11_INITIALIZER_LISTS
+#   include <cstdarg>
+#   include <list>
+#endif
+
+namespace csv {
+
+    // Interface: Any datum which can be converted to a CSV string.
+    struct Datum {
+        virtual std::string csvHeader() const = 0;
+        virtual std::string csv() const = 0;
+        virtual unsigned int nCols() const = 0;
+    };
+
+    /* Converts a sequence of objects to a CSV string.  It uses stringstreams
+     * internally, so all data in the sequence will get converted to strings
+     * using operator<<; however, no escaping will occur. */
+    template<typename SequenceContainer>
+    std::string fromContainer(const SequenceContainer &);
+
+}
+
+#ifndef HAVE_CXX11_INITIALIZER_LISTS
+
+    /* Without C++11 initializer list syntax, creating containers to pass to
+     * csv::fromContainer is really ugly.  This function makes it substantially
+     * nicer, at the cost of forcing you to manually specify the length of the
+     * container (an unfortunate varargs limitation).  */
+    template<typename T>
+    std::list<T> makeList(typename std::list<T>::size_type, ...);
+
+    /* floats get promoted to doubles in a va_list, so they need special
+     * handling. */
+    template<>
+    std::list<float> makeList(typename std::list<float>::size_type, ...);
+
+#endif
+
+#include "csv-inl.h"
+
+#endif
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..6deb436
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,137 @@
+/* main.cpp -- plugin entry points
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <cstddef>
+
+#include <exception>
+#include <stdexcept>
+#include <string>
+
+#include <boost/filesystem.hpp>
+#include <v_repLib.h>
+
+#include "automobile.h"
+#include "main.h"
+#include "vrep.h"
+#include "vrepFfi.h"
+
+namespace {
+
+    const unsigned char PLUGIN_VERSION = 1;
+
+    // The V-REP library that will get loaded at runtime
+    const std::string VREP_LIBRARY_NAME = "libv_rep.so";
+    LIBRARY vrepLibrary;
+
+
+    // Prototypes //
+
+    /* The library we think we're loading might not actually be the right
+     * library. */
+    class BadLibraryError : public std::runtime_error {
+    public:
+        explicit inline BadLibraryError();
+    };
+
+    // We might be using a too-old V-REP.
+    class TooOldVrepError : public std::runtime_error {
+    public:
+        explicit inline TooOldVrepError(const simInt version);
+    };
+
+    /* Loads the V-REP library and ensures it has the correct set of symbols.
+     * Throws 'std::exception' if an error occurs. */
+    // This function is declared inline because it is only used once.
+    inline void loadAndValidateVrepLibrary();
+
+    /* Throws 'std::exception' if the current version of V-REP is strictly less
+       than the 'simInt' passed. */
+    // This function is declared inline because it is only used once.
+    inline void requireVrepVersion(const simInt);
+}
+
+unsigned char v_repStart(void *, int) {
+    try {
+        loadAndValidateVrepLibrary();
+        // If we needed a specific version of V-REP, we'd check it here with
+        // 'requireVrepVersion'.
+        vrep::InterfaceLockGuard lockInterface;
+        // Register functions.
+        registerLuaFunctions();
+        // Returning zero indicates a failure condition.
+        static_assert(PLUGIN_VERSION != 0, "Plugin version must be nonzero");
+        return PLUGIN_VERSION;
+    } catch (const std::exception& error) {
+        // Loading the plugin failed.  Return 0 to indicate failure.
+        return 0;
+    }
+}
+
+void v_repEnd() {
+    unloadVrepLibrary(vrepLibrary);
+}
+
+void *v_repMessage(int, int *, void *, int *) {
+    return nullptr;
+}
+
+namespace {
+
+    void loadAndValidateVrepLibrary() {
+        try {
+            // Load the V-REP library out of the V-REP directory.
+            const std::string vrepLibraryPath =
+                boost::filesystem::current_path().string()
+                + "/" + VREP_LIBRARY_NAME;
+            vrepLibrary = loadVrepLibrary(vrepLibraryPath.c_str());
+            // Make sure we can actually get code out of the V-REP library.
+            if (getVrepProcAddresses(vrepLibrary) == 0) {
+                throw BadLibraryError();
+            }
+        } catch (const std::exception& e) {
+            // Problems occurred loading the library; unload it before leaving.
+            unloadVrepLibrary(vrepLibrary);
+            throw e;
+        }
+    }
+
+    void requireVrepVersion(const simInt expected) {
+        simInt actual;
+        VREP(simGetIntegerParameter(sim_intparam_program_version, &actual));
+        if (actual < expected) {
+            throw TooOldVrepError(expected);
+        }
+    }
+
+    BadLibraryError::BadLibraryError()
+        : std::runtime_error("could not find all required functions in "
+                             + VREP_LIBRARY_NAME) {
+    }
+
+    TooOldVrepError::TooOldVrepError(const simInt version)
+        : std::runtime_error("plugin requires V-REP >= "
+                             + std::to_string(version)) {
+    }
+
+}
diff --git a/src/main.h b/src/main.h
new file mode 100644
index 0000000..4960210
--- /dev/null
+++ b/src/main.h
@@ -0,0 +1,44 @@
+/* main.h -- main plugin interface
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_MAIN_H_
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_MAIN_H_
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+/* This interface is defined by V-REP itself.  See
+ * <http://www.coppeliarobotics.com/helpFiles/en/plugins.htm>. */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    unsigned char v_repStart(void *pointer, int integer);
+    void v_repEnd();
+    void *v_repMessage(int message, int *auxiliary_data, void *custom_data,
+                       int *reply_data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/src/measurement-inl.h b/src/measurement-inl.h
new file mode 100644
index 0000000..9762cd1
--- /dev/null
+++ b/src/measurement-inl.h
@@ -0,0 +1,62 @@
+/* measurement-inl.h -- data sets we gather
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_MEASUREMENT_INL_H
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_MEASUREMENT_INL_H
+
+std::string Pose::csvHeader() const {
+    return csvHeader_;
+}
+
+std::string Pose::csv() const {
+#   ifdef HAVE_CXX11_INITIALIZER_LISTS
+        return csv::fromContainer(std::vector<float> {time, y, x, theta});
+#   else
+        return csv::fromContainer(makeList<float>(nCols(), time, y, x, theta));
+#   endif
+}
+
+unsigned int Pose::nCols() const {
+    return 4;
+}
+
+std::string ControlSignals::csvHeader() const {
+    return csvHeader_;
+}
+
+std::string ControlSignals::csv() const {
+#   ifdef HAVE_CXX11_INITIALIZER_LISTS
+        return csv::fromContainer(
+            std::vector<float> {time, speed, steeringAngle});
+#   else
+        return csv::fromContainer(
+            makeList<float>(nCols(), time, speed, steeringAngle));
+#   endif
+}
+
+unsigned int ControlSignals::nCols() const {
+    return 3;
+}
+
+unsigned int LidarDatum::nCols() const {
+    return 1 + distance.size() + intensity.size();
+}
+
+#endif
diff --git a/src/measurement.cpp b/src/measurement.cpp
new file mode 100644
index 0000000..bcf20c3
--- /dev/null
+++ b/src/measurement.cpp
@@ -0,0 +1,68 @@
+/* measurement.cpp -- data sets we gather
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <array>
+#include <string>
+#include <vector>
+
+#include "csv.h"
+#include "measurement.h"
+
+const std::string Pose::csvHeader_ = "TimeGPS,GPSLat,GPSLon,Orientation";
+
+const std::string ControlSignals::csvHeader_ = "Time_VS,Velocity,Steering";
+
+std::string LidarDatum::csvHeader() const {
+    std::string result;
+    const std::string timeLaserHeader = "TimeLaser";
+    const std::string distanceHeader = "Laser";
+    const std::string intensityHeader = "Intensity";
+    result.reserve(timeLaserHeader.size()
+                   + distance.size() * (1 + distanceHeader.size())
+                   + intensity.size() * (1 + intensityHeader.size()));
+    result.append(timeLaserHeader);
+    for (std::vector<float>::size_type i = 0; i < distance.size(); i++) {
+        result.append(",");
+        result.append(distanceHeader);
+    }
+    for (std::vector<float>::size_type i = 0; i < intensity.size(); i++) {
+        result.append(",");
+        result.append(intensityHeader);
+    }
+    return result;
+}
+
+std::string LidarDatum::csv() const {
+    std::string result = std::to_string(time);
+    /* Yes, there are double braces in the initializer on the next line.  See
+     * <http://stackoverflow.com/questions/11400090>. */
+    const std::array<std::vector<float>, 2> dataSets = {{distance, intensity}};
+    for (const std::vector<float> &data : dataSets) {
+        if (! data.empty()) {
+            result.append(",");
+            result.append(csv::fromContainer(data));
+        }
+    }
+    return result;
+}
diff --git a/src/measurement.h b/src/measurement.h
new file mode 100644
index 0000000..bad199c
--- /dev/null
+++ b/src/measurement.h
@@ -0,0 +1,93 @@
+/* measurement.h -- data sets we gather
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_MEASUREMENT_H
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_MEASUREMENT_H
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <string>
+#include <vector>
+
+#include "csv.h"
+
+// Base class for time-series data
+struct Datum {
+    inline Datum(float time)
+        : time(time) {
+    }
+    float time;
+};
+
+
+// Datum definitions //
+
+class Pose : public Datum, public csv::Datum {
+public:
+    inline Pose(float time, float x, float y, float theta)
+        : ::Datum(time), x(x), y(y), theta(theta) {
+    }
+    float x;
+    float y;
+    float theta;
+    inline virtual std::string csvHeader() const;
+    inline virtual std::string csv() const;
+    inline virtual unsigned int nCols() const;
+
+protected:
+    static const std::string csvHeader_;
+};
+
+
+class ControlSignals : public Datum, public csv::Datum {
+public:
+    inline ControlSignals(float time, float speed, float steeringAngle)
+        : ::Datum(time), speed(speed), steeringAngle(steeringAngle) {
+    }
+    float speed;
+    float steeringAngle;
+    inline virtual std::string csvHeader() const;
+    inline virtual std::string csv() const;
+    inline virtual unsigned int nCols() const;
+
+protected:
+    static const std::string csvHeader_;
+};
+
+
+class LidarDatum : public Datum, public csv::Datum {
+public:
+    inline LidarDatum(float time, std::vector<float> distance,
+                      std::vector<float> intensity)
+        : ::Datum(time), distance(distance), intensity(intensity) {
+    }
+    std::vector<float> distance;
+    std::vector<float> intensity;
+    virtual std::string csvHeader() const;
+    inline virtual std::string csv() const;
+    inline virtual unsigned int nCols() const;
+};
+
+
+#include "measurement-inl.h"
+
+#endif
diff --git a/src/noise-inl.h b/src/noise-inl.h
new file mode 100644
index 0000000..5013a3c
--- /dev/null
+++ b/src/noise-inl.h
@@ -0,0 +1,51 @@
+/* noise-inl.h -- noisy data
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_NOISE_INL_H
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_NOISE_INL_H
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+template<typename RealType>
+GaussianNoiseSource<RealType>::GaussianNoiseSource(RealType mean,
+                                                   RealType stddev)
+	: generator(), distribution(mean, stddev) {
+    generator.seed(std::random_device()());
+}
+
+template<typename RealType>
+RealType GaussianNoiseSource<RealType>::get() {
+    return distribution(generator);
+}
+
+GaussianNoiseSource<float> gaussian(const std::vector<float> params) {
+    if (params.size() != 2) {
+        throw std::invalid_argument(std::string()
+            + "expected two-element vector of distribution parameters "
+            + "(got " + std::to_string(params.size()) + "-element "
+            + "vector instead");
+    } else {
+        return GaussianNoiseSource<float>(params[0], params[1]);
+    }
+}
+
+#endif
diff --git a/src/noise.cpp b/src/noise.cpp
new file mode 100644
index 0000000..bee0224
--- /dev/null
+++ b/src/noise.cpp
@@ -0,0 +1,73 @@
+/* noise.h -- noisy data
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#ifdef HAVE_CXX11_CLOSURES
+#   include <algorithm>
+#endif
+
+#include "measurement.h"
+#include "noise.h"
+
+Pose addNoise(const Pose &pose,
+              GaussianNoiseSource<float> &positionNoise,
+              GaussianNoiseSource<float> &angleNoise) {
+    Pose result = pose;
+    result.x += positionNoise.get();
+    result.y += positionNoise.get();
+    result.theta += angleNoise.get();
+    return result;
+}
+
+ControlSignals addNoise(const ControlSignals &signals,
+                        GaussianNoiseSource<float> &speedNoise,
+                        GaussianNoiseSource<float> &steeringAngleNoise) {
+    ControlSignals result = signals;
+    result.speed += speedNoise.get();
+    result.steeringAngle += steeringAngleNoise.get();
+    return result;
+}
+
+LidarDatum addNoise(const LidarDatum &datum,
+                    GaussianNoiseSource<float> &distanceNoise,
+                    GaussianNoiseSource<float> &intensityNoise) {
+    LidarDatum result = datum;
+#   ifdef HAVE_CXX11_CLOSURES
+        std::for_each(result.distance.begin(), result.distance.end(),
+                      [&distanceNoise](float &d) {
+                          d += distanceNoise.get();
+                      });
+        std::for_each(result.intensity.begin(), result.intensity.end(),
+                      [&intensityNoise](float &i) {
+                          i += intensityNoise.get();
+                      });
+#   else
+        for (float &d : result.distance) {
+            d += distanceNoise.get();
+        }
+        for (float &i : result.intensity) {
+            i += intensityNoise.get();
+        }
+#   endif
+    return result;
+}
diff --git a/src/noise.h b/src/noise.h
new file mode 100644
index 0000000..e0b9980
--- /dev/null
+++ b/src/noise.h
@@ -0,0 +1,72 @@
+/* noise.h -- noisy data
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_NOISE_H
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_NOISE_H
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <random>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+#include "csv.h"
+#include "measurement.h"
+
+
+// Noise sources //
+
+template<typename RealType = double>
+class GaussianNoiseSource {
+public:
+    inline GaussianNoiseSource(RealType mean, RealType stddev);
+    inline RealType get();
+
+private:
+    std::mt19937 generator;
+    std::normal_distribution<RealType> distribution;
+};
+
+/* Convenience function to construct a GaussianNoiseSource<float> from a
+ * two-element float vector representing mean and standard deviation.
+ * Throws a std::invalid_argument if the vector is of the wrong
+ * length. */
+inline GaussianNoiseSource<float> gaussian(const std::vector<float>);
+
+
+// Noisy values //
+
+// Adds noise to a value.
+Pose addNoise(const Pose &, GaussianNoiseSource<float> &positionNoise,
+              GaussianNoiseSource<float> &angleNoise);
+ControlSignals addNoise(const ControlSignals &,
+                        GaussianNoiseSource<float> &speedNoise,
+                        GaussianNoiseSource<float> &steeringAngleNoise);
+LidarDatum addNoise(const LidarDatum &,
+                    GaussianNoiseSource<float> &distanceNoise,
+                    GaussianNoiseSource<float> &intensityNoise);
+
+
+#include "noise-inl.h"
+
+#endif
diff --git a/src/vrep-inl.h b/src/vrep-inl.h
new file mode 100644
index 0000000..84d8ef0
--- /dev/null
+++ b/src/vrep-inl.h
@@ -0,0 +1,118 @@
+/* vrep-inl.h -- convenience code to interface with V-REP
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_VREP_INL_H_
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_VREP_INL_H_
+
+namespace vrep {
+
+    // class InterfaceLockGuard
+
+    InterfaceLockGuard::InterfaceLockGuard() {
+        lock();
+    }
+
+    InterfaceLockGuard::InterfaceLockGuard(const InterfaceLockGuard &other) {
+        copyState(other);
+    }
+
+    InterfaceLockGuard &InterfaceLockGuard::operator=(
+        const InterfaceLockGuard &other) {
+        copyState(other);
+        return *this;
+    }
+
+    InterfaceLockGuard::InterfaceLockGuard(InterfaceLockGuard &&other) {
+        moveState(other);
+    }
+
+    InterfaceLockGuard &InterfaceLockGuard::operator=(
+        InterfaceLockGuard &&other) {
+        moveState(other);
+        return *this;
+    }
+
+    void InterfaceLockGuard::lock() {
+        VREP(simLockInterface(true));
+        isLocked = true;
+    }
+
+    void InterfaceLockGuard::unlock() {
+        VREP(simLockInterface(false));
+        isLocked = false;
+    }
+
+
+    // class Error
+
+    Error::Error(const std::string &whatArg)
+        : std::runtime_error(whatArg) {
+    }
+
+    Error::Error(const char *whatArg)
+        : Error(std::string(whatArg)) {
+    }
+
+
+    // template<typename T> class FunctionError<T>
+
+    template<typename T>
+    FunctionError<T>::FunctionError(const std::string &invocation,
+                                        const T result)
+        : Error("V-REP function invocation "
+                + invocation
+                + " failed, returning "
+                + std::to_string(result)) {
+    }
+
+    template<typename T>
+    FunctionError<T>::FunctionError(const char *invocation, const T result)
+        : FunctionError(std::string(invocation), result) {
+    }
+
+
+    // template<typename T> T checkFunction(T, const char[])
+
+    template<typename T>
+    T checkFunction(T result, const char invocation[]) {
+        if (isSuccess(result)) {
+            return result;
+        } else {
+            throw vrep::FunctionError<T>(invocation, result);
+        }
+    }
+
+
+    // template<typename T> bool isSuccess(const T)
+
+    template<>
+    bool isSuccess(const simInt val) {
+        return val != -1;
+    }
+
+    template<>
+    bool isSuccess(const simVoid *const val) {
+        return val != nullptr;
+    }
+
+}
+
+#endif
+
diff --git a/src/vrep.cpp b/src/vrep.cpp
new file mode 100644
index 0000000..2043b45
--- /dev/null
+++ b/src/vrep.cpp
@@ -0,0 +1,72 @@
+/* vrep.cpp -- convenience code to interface with V-REP
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <stdexcept>
+#include <string>
+
+#include <v_repLib.h>
+
+#include "vrep.h"
+
+namespace vrep {
+
+    InterfaceLockGuard::~InterfaceLockGuard() noexcept {
+        if (isLocked) {
+            /* Throwing an exception from a destructor is a bad, bad idea.  See
+             * /More Effective C++/ #14. */
+            try {
+                unlock();
+            } catch (const Error& error) {
+                /* Unlocking failed, so we're kind of screwed at this point.  We
+                 * can't even display a dialog to the user noting the failure,
+                 * because the interface is locked! *sigh*  Just give up and do
+                 * nothing. */
+            }
+        }
+    }
+
+    void InterfaceLockGuard::copyState(const InterfaceLockGuard &other) {
+        if (isLocked) {
+            unlock();
+        }
+        if (other.isLocked) {
+            lock();
+        } else {
+            isLocked = false;
+        }
+    }
+
+    void InterfaceLockGuard::moveState(InterfaceLockGuard &other) {
+        if (isLocked) {
+            unlock();
+        }
+        if (other.isLocked) {
+            lock();
+            other.unlock();
+        } else {
+            isLocked = false;
+        }
+    }
+
+}
diff --git a/src/vrep.h b/src/vrep.h
new file mode 100644
index 0000000..7a1bac0
--- /dev/null
+++ b/src/vrep.h
@@ -0,0 +1,104 @@
+/* vrep.h -- convenience code to interface with V-REP
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_VREP_H_
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_VREP_H_
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <cstddef>
+
+#include <stdexcept>
+#include <string>
+
+#include <v_repLib.h>
+
+/* All the convenience code lives in the 'vrep' namespace to distinguish it from
+ * the actual V-REP functions, which all are prefixed with 'sim'. */
+namespace vrep {
+
+    // A RAII wrapper for 'simLockInterface'.
+    class InterfaceLockGuard {
+    public:
+        inline InterfaceLockGuard();
+        ~InterfaceLockGuard() noexcept;
+        // Copying
+        inline InterfaceLockGuard(const InterfaceLockGuard &);
+        inline InterfaceLockGuard &operator=(const InterfaceLockGuard &);
+        // Moving
+        inline InterfaceLockGuard(InterfaceLockGuard &&);
+        inline InterfaceLockGuard &operator=(InterfaceLockGuard &&);
+
+    private:
+        inline void lock();
+        inline void unlock();
+        void copyState(const InterfaceLockGuard &);
+        void moveState(InterfaceLockGuard &);
+
+        bool isLocked;
+    };
+
+
+    // Error handling //
+
+    // The class for all errors which occur when interfacing with V-REP.
+    class Error : public std::runtime_error {
+    public:
+        explicit inline Error(const std::string &whatArg);
+        explicit inline Error(const char *whatArg);
+    };
+
+    // An error signaling a failed V-REP function invocation.
+    template<typename T>
+    class FunctionError : public Error {
+    public:
+        FunctionError(const std::string &invocation, const T result);
+        inline FunctionError(const char *invocation, const T result);
+    };
+
+/* A nice macro to convert failed V-REP function invocations to
+ * 'FunctionError's.  Simply wrap your V-REP function interface--e.g.,
+ *
+ *     simInt x = VREP(simGetIntegerParameter(foo, &bar));
+ *
+ * --and you'll be off to the races.  'x' will be assigned the result of the
+ * invocation if and only if the invocation succeeded; otherwise, a
+ * 'FunctionError' describing the failed invocation will be thrown.
+ *
+ * This needs to be a macro so that it can include the code of the failed
+ * invocation itself. */
+#define VREP(invocation) vrep::checkFunction((invocation), #invocation)
+
+    template<typename T>
+    T checkFunction(T result, const char invocation[]);
+
+    /* Returns 'true' iff the passed value signifies a successful V-REP function
+     * invocation. */
+    template<typename T>
+    inline bool isSuccess(const T);
+    template<> inline bool isSuccess(const simInt);
+    template<> inline bool isSuccess(const simVoid *);
+}
+
+#include "vrep-inl.h"
+
+#endif
diff --git a/src/vrepFfi-inl.h b/src/vrepFfi-inl.h
new file mode 100644
index 0000000..554d954
--- /dev/null
+++ b/src/vrepFfi-inl.h
@@ -0,0 +1,133 @@
+/* vrepFfi-inl.h -- exposing functions to V-REP
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_VREPFFI_INL_H_
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_VREPFFI_INL_H_
+
+namespace vrep {
+
+    namespace {
+
+        // Converting a variadic template type to a Lua type list //
+
+        std::forward_list<int> toLuaTypes() {
+            return std::forward_list<int>();
+        }
+
+        template<typename Car>
+        std::forward_list<int> toLuaTypes() {
+            std::forward_list<int> luaTypes = toLuaTypes();
+            luaTypes.push_front(LuaType<Car>::id);
+            return luaTypes;
+        }
+
+        template<typename Car, typename Cadr, typename ...Cddr>
+        std::forward_list<int> toLuaTypes() {
+            std::forward_list<int> luaTypes = toLuaTypes<Cadr, Cddr...>();
+            luaTypes.push_front(LuaType<Car>::id);
+            return luaTypes;
+        }
+
+    }
+
+
+    // Exposing C++ functions to Lua //
+
+    template<typename ...Args>
+    void exposeFunction(const std::string name, const std::string callTips,
+                        simVoid (*const f)(SLuaCallBack *)) {
+        // Compute the Lua signature.
+        std::vector<int> luaTypes;
+        luaTypes.push_back(0);
+        for (int type : toLuaTypes<Args...>()) {
+            luaTypes.push_back(type);
+            // We just added an argument.
+            luaTypes[0]++;
+        }
+        // Register the function with Lua.
+        VREP(simRegisterCustomLuaFunction(name.c_str(), callTips.c_str(),
+                                          luaTypes.data(), f));
+    }
+
+
+    // Extracting Lua arguments from the callback structure //
+
+    template<typename T>
+    T LuaCall::expectAtom() {
+        ensureNextArgType(LuaType<T>::id);
+        const T result = unsafeGetAtom<T>();
+        argIdx++;
+        return result;
+    }
+
+    template<typename T>
+    std::vector<T> LuaCall::expectTable() {
+        ensureNextArgType(LuaType<std::vector<T>>::id);
+        const std::vector<T> result = unsafeGetTable<T>();
+        argIdx++;
+        return result;
+    }
+
+    template<typename T>
+    std::vector<T> LuaCall::unsafeGetTable() {
+        // Determine how long the table is.
+        size_t tableLen;
+        if (simCall->inputArgTypeAndSize[2 * argIdx] & sim_lua_arg_table) {
+            tableLen = simCall->inputArgTypeAndSize[2 * argIdx + 1];
+        } else {
+            tableLen = 1;
+        }
+        // Build the result.
+        std::vector<T> result(tableLen);
+        for (size_t i = 0; i < tableLen; i++) {
+            result[i] = unsafeGetAtom<T>();
+        }
+        return result;
+    }
+
+    template<>
+    bool LuaCall::unsafeGetAtom() {
+        return *cursorBool++;
+    }
+
+    template<>
+    int LuaCall::unsafeGetAtom() {
+        return *cursorInt++;
+    }
+
+    template<>
+    float LuaCall::unsafeGetAtom() {
+        return *cursorFloat++;
+    }
+
+
+    // Error handling //
+
+    MarshalingError::MarshalingError(const std::string &whatArg)
+        : Error(whatArg) {
+    }
+
+    MarshalingError::MarshalingError(const char *whatArg)
+        : MarshalingError(std::string(whatArg)) {
+    }
+
+}
+
+#endif
diff --git a/src/vrepFfi.cpp b/src/vrepFfi.cpp
new file mode 100644
index 0000000..4641bbf
--- /dev/null
+++ b/src/vrepFfi.cpp
@@ -0,0 +1,68 @@
+/* vrepFfi.cpp -- exposing functions to V-REP
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <cstring>
+
+#include <string>
+
+#include "vrepFfi.h"
+
+namespace vrep {
+
+    // Extracting Lua arguments from the callback structure //
+
+    LuaCall::LuaCall(SLuaCallBack *simCall)
+        : simCall(simCall), argIdx(0), cursorBool(simCall->inputBool),
+          cursorInt(simCall->inputInt), cursorFloat(simCall->inputFloat),
+          cursorChar(simCall->inputChar) {
+    }
+
+    void LuaCall::ensureNextArgType(const int expected) {
+        const int nextType = simCall->inputArgTypeAndSize[2 * argIdx];
+        if (nextType != expected) {
+            throw MarshalingError("unexpected Lua argument (expected type "
+                                  + std::to_string(expected)
+                                  + ", got type "
+                                  + std::to_string(nextType)
+                                  + ")");
+        }
+    }
+
+    template<>
+    std::string LuaCall::unsafeGetAtom() {
+        // Determine how long the string is.  Lua uses '@' as its sentinel.
+        size_t len;
+        simChar *sentinel = std::strchr(cursorChar, '@');
+        if (sentinel) {
+            len = sentinel - cursorChar;
+        } else {
+            len = std::strlen(cursorChar);
+        }
+        // Build the 'std::string'.
+        const std::string result = std::string(cursorChar, len);
+        cursorChar += len + (sentinel ? 1 : 0);
+        return result;
+    }
+
+}
diff --git a/src/vrepFfi.h b/src/vrepFfi.h
new file mode 100644
index 0000000..0dbab1e
--- /dev/null
+++ b/src/vrepFfi.h
@@ -0,0 +1,158 @@
+/* vrepFfi.h -- exposing functions to V-REP
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library 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 General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_VREPFFI_H_
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_VREPFFI_H_
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <cstddef>
+#include <cstring>
+
+#include <forward_list>
+#include <string>
+#include <vector>
+
+#include <v_repLib.h>
+
+#include "vrep.h"
+
+namespace vrep {
+
+    namespace {
+
+        // C-Lua type equivalences //
+
+        template<typename T, int idVal>
+        struct LuaTypeWrapper {
+            static const int id = idVal;
+            static inline T isNextArg(const SLuaCallBack *);
+        };
+
+        template<typename T>
+        struct LuaType;
+
+        template<>
+        struct LuaType<std::nullptr_t>
+            : public LuaTypeWrapper<std::nullptr_t, sim_lua_arg_nil> {
+        };
+
+        template<>
+        struct LuaType<bool> : public LuaTypeWrapper<bool, sim_lua_arg_bool> {
+            typedef simBool LuaT;
+        };
+
+        template<>
+        struct LuaType<int> : public LuaTypeWrapper<int, sim_lua_arg_int> {
+            typedef simInt LuaT;
+        };
+
+        template<>
+        struct LuaType<float>
+            : public LuaTypeWrapper<float, sim_lua_arg_float> {
+            typedef simFloat LuaT;
+        };
+
+        template<>
+        struct LuaType<std::string>
+            : public LuaTypeWrapper<std::string, sim_lua_arg_string> {
+            typedef simChar LuaT;
+       };
+
+        template<typename U>
+        struct LuaType<std::vector<U>>
+            : public LuaTypeWrapper<std::vector<U>,
+                                    sim_lua_arg_table | LuaType<U>::id> {
+            typedef typename LuaType<U>::LuaT LuaT;
+        };
+
+
+        // Converting a variadic template type to a Lua type list //
+
+        std::forward_list<int> toLuaTypes();
+
+        template<typename Car>
+        std::forward_list<int> toLuaTypes();
+
+        template<typename Car, typename Cadr, typename ...Cddr>
+        std::forward_list<int> toLuaTypes();
+    }
+
+
+    // Exposing C++ functions to Lua //
+
+    template<typename ...Args>
+    void exposeFunction(const std::string name, const std::string callTips,
+                        simVoid (*const f)(SLuaCallBack *));
+
+
+    // Extracting Lua arguments from the callback structure //
+
+    /* A class layered on 'SLuaCallBack' for handling calls from Lua into C++.
+     * Watch out--interacting with this class at all outside of a C++ function
+     * exposed to Lua will almost certainly cause undefined behavior! */
+    class LuaCall {
+    public:
+        LuaCall(SLuaCallBack *);
+
+        template<typename T>
+        T expectAtom();
+
+        template<typename T>
+        std::vector<T> expectTable();
+
+    private:
+        void ensureNextArgType(const int expected);
+
+        template<typename T>
+        T unsafeGetAtom();
+
+        template<typename T>
+        std::vector<T> unsafeGetTable();
+
+        SLuaCallBack *const simCall;
+        size_t argIdx;
+        simBool *cursorBool;
+        simInt *cursorInt;
+        simFloat *cursorFloat;
+        simChar *cursorChar;
+    };
+    template<> inline bool LuaCall::unsafeGetAtom();
+    template<> inline int LuaCall::unsafeGetAtom();
+    template<> inline float LuaCall::unsafeGetAtom();
+    template<> std::string LuaCall::unsafeGetAtom();
+
+
+    // Error handling //
+
+    // An error signaling a failed marshal from Lua to C++.
+    class MarshalingError : public Error {
+    public:
+        explicit inline MarshalingError(const std::string &whatArg);
+        explicit inline MarshalingError(const char *whatArg);
+    };
+
+}
+
+#include "vrepFfi-inl.h"
+
+#endif