diff --git a/fcl/CMakeLists.txt b/trunk/fcl/CMakeLists.txt
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rename from fcl/CMakeLists.txt
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diff --git a/fcl/Makefile b/trunk/fcl/Makefile
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rename from fcl/Makefile
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diff --git a/fcl/include/fcl/AABB.h b/trunk/fcl/include/fcl/AABB.h
similarity index 100%
rename from fcl/include/fcl/AABB.h
rename to trunk/fcl/include/fcl/AABB.h
diff --git a/fcl/include/fcl/BV.h b/trunk/fcl/include/fcl/BV.h
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rename from fcl/include/fcl/BV.h
rename to trunk/fcl/include/fcl/BV.h
diff --git a/fcl/include/fcl/BVH_front.h b/trunk/fcl/include/fcl/BVH_front.h
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rename from fcl/include/fcl/BVH_front.h
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diff --git a/fcl/include/fcl/BVH_internal.h b/trunk/fcl/include/fcl/BVH_internal.h
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rename from fcl/include/fcl/BVH_internal.h
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diff --git a/fcl/include/fcl/BVH_model.h b/trunk/fcl/include/fcl/BVH_model.h
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rename from fcl/include/fcl/BVH_model.h
rename to trunk/fcl/include/fcl/BVH_model.h
diff --git a/fcl/include/fcl/BVH_utility.h b/trunk/fcl/include/fcl/BVH_utility.h
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rename from fcl/include/fcl/BVH_utility.h
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diff --git a/fcl/include/fcl/BV_fitter.h b/trunk/fcl/include/fcl/BV_fitter.h
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rename from fcl/include/fcl/BV_fitter.h
rename to trunk/fcl/include/fcl/BV_fitter.h
diff --git a/fcl/include/fcl/BV_node.h b/trunk/fcl/include/fcl/BV_node.h
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rename from fcl/include/fcl/BV_node.h
rename to trunk/fcl/include/fcl/BV_node.h
diff --git a/fcl/include/fcl/BV_splitter.h b/trunk/fcl/include/fcl/BV_splitter.h
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rename from fcl/include/fcl/BV_splitter.h
rename to trunk/fcl/include/fcl/BV_splitter.h
diff --git a/fcl/include/fcl/OBB.h b/trunk/fcl/include/fcl/OBB.h
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rename from fcl/include/fcl/OBB.h
rename to trunk/fcl/include/fcl/OBB.h
diff --git a/fcl/include/fcl/RSS.h b/trunk/fcl/include/fcl/RSS.h
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rename from fcl/include/fcl/RSS.h
rename to trunk/fcl/include/fcl/RSS.h
diff --git a/fcl/include/fcl/broad_phase_collision.h b/trunk/fcl/include/fcl/broad_phase_collision.h
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rename from fcl/include/fcl/broad_phase_collision.h
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diff --git a/fcl/include/fcl/collision.h b/trunk/fcl/include/fcl/collision.h
similarity index 100%
rename from fcl/include/fcl/collision.h
rename to trunk/fcl/include/fcl/collision.h
diff --git a/fcl/include/fcl/collision_data.h b/trunk/fcl/include/fcl/collision_data.h
similarity index 100%
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diff --git a/fcl/include/fcl/collision_func_matrix.h b/trunk/fcl/include/fcl/collision_func_matrix.h
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rename from fcl/include/fcl/collision_func_matrix.h
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diff --git a/fcl/include/fcl/collision_node.h b/trunk/fcl/include/fcl/collision_node.h
similarity index 100%
rename from fcl/include/fcl/collision_node.h
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diff --git a/fcl/include/fcl/collision_object.h b/trunk/fcl/include/fcl/collision_object.h
similarity index 100%
rename from fcl/include/fcl/collision_object.h
rename to trunk/fcl/include/fcl/collision_object.h
diff --git a/fcl/include/fcl/geometric_shape_to_BVH_model.h b/trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h
similarity index 100%
rename from fcl/include/fcl/geometric_shape_to_BVH_model.h
rename to trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h
diff --git a/fcl/include/fcl/geometric_shapes.h b/trunk/fcl/include/fcl/geometric_shapes.h
similarity index 100%
rename from fcl/include/fcl/geometric_shapes.h
rename to trunk/fcl/include/fcl/geometric_shapes.h
diff --git a/fcl/include/fcl/geometric_shapes_intersect.h b/trunk/fcl/include/fcl/geometric_shapes_intersect.h
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rename from fcl/include/fcl/geometric_shapes_intersect.h
rename to trunk/fcl/include/fcl/geometric_shapes_intersect.h
diff --git a/fcl/include/fcl/geometric_shapes_utility.h b/trunk/fcl/include/fcl/geometric_shapes_utility.h
similarity index 100%
rename from fcl/include/fcl/geometric_shapes_utility.h
rename to trunk/fcl/include/fcl/geometric_shapes_utility.h
diff --git a/fcl/include/fcl/intersect.h b/trunk/fcl/include/fcl/intersect.h
similarity index 100%
rename from fcl/include/fcl/intersect.h
rename to trunk/fcl/include/fcl/intersect.h
diff --git a/fcl/include/fcl/interval_tree.h b/trunk/fcl/include/fcl/interval_tree.h
similarity index 100%
rename from fcl/include/fcl/interval_tree.h
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diff --git a/fcl/include/fcl/kDOP.h b/trunk/fcl/include/fcl/kDOP.h
similarity index 100%
rename from fcl/include/fcl/kDOP.h
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diff --git a/fcl/include/fcl/motion.h b/trunk/fcl/include/fcl/motion.h
similarity index 100%
rename from fcl/include/fcl/motion.h
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diff --git a/fcl/include/fcl/motion_base.h b/trunk/fcl/include/fcl/motion_base.h
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rename from fcl/include/fcl/motion_base.h
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diff --git a/fcl/include/fcl/primitive.h b/trunk/fcl/include/fcl/primitive.h
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rename from fcl/include/fcl/primitive.h
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diff --git a/fcl/include/fcl/simple_setup.h b/trunk/fcl/include/fcl/simple_setup.h
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rename from fcl/include/fcl/simple_setup.h
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diff --git a/fcl/include/fcl/transform.h b/trunk/fcl/include/fcl/transform.h
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rename from fcl/include/fcl/transform.h
rename to trunk/fcl/include/fcl/transform.h
diff --git a/fcl/include/fcl/traversal_node_base.h b/trunk/fcl/include/fcl/traversal_node_base.h
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rename from fcl/include/fcl/traversal_node_base.h
rename to trunk/fcl/include/fcl/traversal_node_base.h
diff --git a/fcl/include/fcl/traversal_node_bvh_shape.h b/trunk/fcl/include/fcl/traversal_node_bvh_shape.h
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rename from fcl/include/fcl/traversal_node_bvh_shape.h
rename to trunk/fcl/include/fcl/traversal_node_bvh_shape.h
diff --git a/fcl/include/fcl/traversal_node_bvhs.h b/trunk/fcl/include/fcl/traversal_node_bvhs.h
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rename from fcl/include/fcl/traversal_node_bvhs.h
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diff --git a/fcl/include/fcl/traversal_node_shapes.h b/trunk/fcl/include/fcl/traversal_node_shapes.h
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rename from fcl/include/fcl/traversal_node_shapes.h
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diff --git a/fcl/include/fcl/traversal_recurse.h b/trunk/fcl/include/fcl/traversal_recurse.h
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rename from fcl/include/fcl/traversal_recurse.h
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diff --git a/fcl/include/fcl/vec_3f.h b/trunk/fcl/include/fcl/vec_3f.h
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rename from fcl/include/fcl/vec_3f.h
rename to trunk/fcl/include/fcl/vec_3f.h
diff --git a/fcl/mainpage.dox b/trunk/fcl/mainpage.dox
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diff --git a/fcl/manifest.xml b/trunk/fcl/manifest.xml
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rename from fcl/manifest.xml
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diff --git a/fcl/src/AABB.cpp b/trunk/fcl/src/AABB.cpp
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rename from fcl/src/AABB.cpp
rename to trunk/fcl/src/AABB.cpp
diff --git a/fcl/src/BVH_model.cpp b/trunk/fcl/src/BVH_model.cpp
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rename from fcl/src/BVH_model.cpp
rename to trunk/fcl/src/BVH_model.cpp
diff --git a/fcl/src/BVH_utility.cpp b/trunk/fcl/src/BVH_utility.cpp
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rename from fcl/src/BVH_utility.cpp
rename to trunk/fcl/src/BVH_utility.cpp
diff --git a/fcl/src/BV_fitter.cpp b/trunk/fcl/src/BV_fitter.cpp
similarity index 100%
rename from fcl/src/BV_fitter.cpp
rename to trunk/fcl/src/BV_fitter.cpp
diff --git a/fcl/src/BV_splitter.cpp b/trunk/fcl/src/BV_splitter.cpp
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rename from fcl/src/BV_splitter.cpp
rename to trunk/fcl/src/BV_splitter.cpp
diff --git a/fcl/src/OBB.cpp b/trunk/fcl/src/OBB.cpp
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rename from fcl/src/OBB.cpp
rename to trunk/fcl/src/OBB.cpp
diff --git a/fcl/src/RSS.cpp b/trunk/fcl/src/RSS.cpp
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rename from fcl/src/RSS.cpp
rename to trunk/fcl/src/RSS.cpp
diff --git a/fcl/src/broad_phase_collision.cpp b/trunk/fcl/src/broad_phase_collision.cpp
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rename from fcl/src/broad_phase_collision.cpp
rename to trunk/fcl/src/broad_phase_collision.cpp
diff --git a/fcl/src/collision.cpp b/trunk/fcl/src/collision.cpp
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rename from fcl/src/collision.cpp
rename to trunk/fcl/src/collision.cpp
diff --git a/fcl/src/collision_func_matrix.cpp b/trunk/fcl/src/collision_func_matrix.cpp
similarity index 100%
rename from fcl/src/collision_func_matrix.cpp
rename to trunk/fcl/src/collision_func_matrix.cpp
diff --git a/fcl/src/collision_node.cpp b/trunk/fcl/src/collision_node.cpp
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rename from fcl/src/collision_node.cpp
rename to trunk/fcl/src/collision_node.cpp
diff --git a/fcl/src/geometric_shapes.cpp b/trunk/fcl/src/geometric_shapes.cpp
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rename from fcl/src/geometric_shapes.cpp
rename to trunk/fcl/src/geometric_shapes.cpp
diff --git a/fcl/src/geometric_shapes_intersect.cpp b/trunk/fcl/src/geometric_shapes_intersect.cpp
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rename from fcl/src/geometric_shapes_intersect.cpp
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diff --git a/fcl/src/geometric_shapes_utility.cpp b/trunk/fcl/src/geometric_shapes_utility.cpp
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rename from fcl/src/geometric_shapes_utility.cpp
rename to trunk/fcl/src/geometric_shapes_utility.cpp
diff --git a/fcl/src/intersect.cpp b/trunk/fcl/src/intersect.cpp
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rename from fcl/src/intersect.cpp
rename to trunk/fcl/src/intersect.cpp
diff --git a/fcl/src/interval_tree.cpp b/trunk/fcl/src/interval_tree.cpp
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rename from fcl/src/interval_tree.cpp
rename to trunk/fcl/src/interval_tree.cpp
diff --git a/fcl/src/motion.cpp b/trunk/fcl/src/motion.cpp
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rename from fcl/src/motion.cpp
rename to trunk/fcl/src/motion.cpp
diff --git a/fcl/src/simple_setup.cpp b/trunk/fcl/src/simple_setup.cpp
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rename from fcl/src/simple_setup.cpp
rename to trunk/fcl/src/simple_setup.cpp
diff --git a/fcl/src/transform.cpp b/trunk/fcl/src/transform.cpp
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rename from fcl/src/transform.cpp
rename to trunk/fcl/src/transform.cpp
diff --git a/fcl/src/traversal_node_base.cpp b/trunk/fcl/src/traversal_node_base.cpp
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rename from fcl/src/traversal_node_base.cpp
rename to trunk/fcl/src/traversal_node_base.cpp
diff --git a/fcl/src/traversal_node_bvhs.cpp b/trunk/fcl/src/traversal_node_bvhs.cpp
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rename from fcl/src/traversal_node_bvhs.cpp
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diff --git a/fcl/src/traversal_recurse.cpp b/trunk/fcl/src/traversal_recurse.cpp
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rename from fcl/src/traversal_recurse.cpp
rename to trunk/fcl/src/traversal_recurse.cpp
diff --git a/fcl/src/vec_3f.cpp b/trunk/fcl/src/vec_3f.cpp
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rename from fcl/src/vec_3f.cpp
rename to trunk/fcl/src/vec_3f.cpp
diff --git a/fcl/test/env.obj b/trunk/fcl/test/env.obj
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diff --git a/fcl/test/rob.obj b/trunk/fcl/test/rob.obj
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diff --git a/fcl/test/test_core_broad_phase.cpp b/trunk/fcl/test/test_core_broad_phase.cpp
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diff --git a/fcl/test/test_core_collision.cpp b/trunk/fcl/test/test_core_collision.cpp
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diff --git a/fcl/test/test_core_collision_point.cpp b/trunk/fcl/test/test_core_collision_point.cpp
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diff --git a/fcl/test/test_core_distance.cpp b/trunk/fcl/test/test_core_distance.cpp
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diff --git a/fcl/test/test_core_geometric_shapes.cpp b/trunk/fcl/test/test_core_geometric_shapes.cpp
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diff --git a/fcl/test/test_core_utility.h b/trunk/fcl/test/test_core_utility.h
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rename from fcl/test/test_core_utility.h
rename to trunk/fcl/test/test_core_utility.h