--- a
+++ b/feasible_joint_stiffness/lrslib-062/plrs.hpp
@@ -0,0 +1,55 @@
+/* 
+	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 2 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, write to the Free Software
+	Foundation, Inc., 51 Franklin Street, Suite 500, Boston, MA  02110-1335, USA.
+
+	Ver 1.0  parallel version (plrs)
+
+	Author: Gary Roumanis
+
+	I have adapted the synchronous lrslib library (v.4.3.) to take advantage
+	of multiple processors/cores. My goal was to keep the program portable
+	and stable. Thus, I took advantage of the free BOOST (http://www.boost.org/)
+	library. Moreover, to limit the introduction of bugs I have made a concious
+	effort to keep the underlying lrslib code untouched. 
+
+	Initial lrs Author: David Avis avis@cs.mcgill.ca
+
+*/
+
+#ifndef PLRS_HPP_INCLUDED
+#define PLRS_HPP_INCLUDED
+
+#include <string>
+#include <sstream>
+
+#define USAGE "Usage is plrs <infile> <outfile> -mt <max threads> -id <initial depth>"
+
+struct plrs_output {
+        std::string type;
+        std::string data;
+        plrs_output* next;
+};
+
+plrs_output * reverseList(plrs_output* head);
+void processCobasis(string cobasis);
+void findInitCobasis();
+void copyFile(string infile, string outfile);
+void doWork(int thread_number, string starting_cobasis);
+void startThread(int thread_number);
+void processOutput();
+void consumeOutput();
+void notifyProducerFinished();
+void initializeStartingCobasis();
+
+#endif