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Class ControlBase
ControlBase's should use ReferenceCounter so memory management is not an issue

Member EventRouter::processTimers ()
handle recursive calls

Member HeadPointerMC::lookAtPoint (float x, float y, float z)
this method is an approximation, could be more precise, and perhaps faster, although this is pretty good.

Class JPEGGenerator
possible speedup by using jpeg_write_raw_data

Member MotionCommand::interpolate (double a, double b, double x)
- replace with a more fancy spline based thing?

Member MotionCommand::interpolate (float a, float b, float x)
- replace with a more fancy spline based thing?

Member MutexLock::lock (int id)
- I'd like to not use a loop here

Member OldHeadPointerMC::convFromBodyRelative (TPROffset_t i, double v, CoordFrame_t mode) const
this is perhaps a bit amateurish - could be more accurate

Member OldHeadPointerMC::convToBodyRelative (TPROffset_t i, double v, CoordFrame_t mode) const
this is perhaps a bit amateurish - could be more accurate

Member PostureEngine::PostureEngine (const char *filename)
might want to make a library of common positions so they don't have to be loaded repeatedly from memstick

Member PostureEngine::avgdiff (const PostureEngine &pe) const
create a version which does weighted summing? This treats weights as all or nothing

Member PostureEngine::diff (const PostureEngine &pe) const
create a version which does weighted summing? This treats weights as all or nothing

Member PostureEngine::maxdiff (const PostureEngine &pe) const
create a version which does weighted summing? This treats weights as all or nothing

Member PostureEngine::solveLinkVector (float Ptgt_x, float Ptgt_y, float Ptgt_z, unsigned int link, float Peff_x, float Peff_y, float Peff_z)
this method is an approximation, could be more precise, and perhaps faster, although this is pretty good.

Class SoundManager
Volume control, variable playback speed, support more wav file formats (latter two are the same thing if you think about it -need to be able to resample on the fly)

Class SoundManager
Add functions to hand out regions to be filled out to avoid copying into the buffer.

Member SoundManager::LoadFile (std::string const &name)
this does one more copy than it really needs to

Member TimeET::Set ()
not getting timeofday on OPEN-R, is time since boot instead...

Class ValueEditControl< T >
needs some work to really be useful again

Member ValueSetControl::activate (MotionManager::MC_ID display)
make the leds flash

Member WorldState::read (OSensorFrameVectorData &sensor, EventRouter *er)
change to use most recent instead of oldest - is a buffer!

Member ERS7Info::mechanicalLimits [NumOutputs][2]
same as outputLimits right now, don't know actual values yet

File LoadSave.h
detect appropriate byte ordering for other platforms

File PostureEngine.h
write a binary version of Load/Save commands for faster access

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