Author:
  Matthew Millard

Date:
  July 2016

Notice: these files 

  -Function.h
  -SegmentedQuinticBezierToolkit.h
  -SegmentedQuinticBezierToolkit.cc
  -SmoothSegmentedFunction.h
  -SmoothSegmentedFunction.cc
  -tests/numericalTestFunctions.h
  -tests/numericalTestFunctions.cc
  -tests/testSmoothSegmentedFunction.cc

were originally part of OpenSim and have been ported 
over to RBDL with some modification. These files are licenced under the 
APACHE 2.0 license which, like the zlib license, is quite liberal. The 
full licence can be found in this folder in the file "LICENSE_APACHE-2.0.txt"
and online here:

http://www.apache.org/licenses/LICENSE-2.0.txt