Cleaned up ANSTO code to merge with sinqdev.sics

This is our new RELEASE-4_0 branch which was taken from ansto/93d9a7c
Conflicts:
	.gitignore
	SICSmain.c
	asynnet.c
	confvirtualmot.c
	counter.c
	devexec.c
	drive.c
	event.h
	exebuf.c
	exeman.c
	histmem.c
	interface.h
	motor.c
	motorlist.c
	motorsec.c
	multicounter.c
	napi.c
	napi.h
	napi4.c
	network.c
	nwatch.c
	nxscript.c
	nxxml.c
	nxxml.h
	ofac.c
	reflist.c
	scan.c
	sicshipadaba.c
	sicsobj.c
	site_ansto/docs/Copyright.txt
	site_ansto/instrument/lyrebird/config/tasmad/sicscommon/nxsupport.tcl
	site_ansto/instrument/lyrebird/config/tasmad/taspub_sics/tasscript.tcl
	statusfile.c
	tasdrive.c
	tasub.c
	tasub.h
	tasublib.c
	tasublib.h

vector.c

@@ -189,6 +189,37 @@ double angleBetween(MATRIX v1, MATRIX v2)
   }
   return angle;
 }
+/*-----------------------------------------------------------------------
+  angleBetween gives only angles between 0 - 180. This is also the
+  only thing there is; the direction of the rotation depends on the 
+  viewpoint and thus is ill defined. This version determines the 
+  sign of the rotation from v3[2]. I made a special version in order not 
+  to trouble other uses of angleBetween. 
+  -----------------------------------------------------------------------*/
+
+double tasAngleBetween(MATRIX v1, MATRIX v2)
+{
+  double angle, angles, sum;
+  MATRIX v3 = NULL;
+  int i;
+
+  angle = vectorDotProduct(v1, v2) / (vectorLength(v1) * vectorLength(v2));
+  v3 = vectorCrossProduct(v1, v2);
+  if (v3 != NULL) {
+    angles = vectorLength(v3) / (vectorLength(v1) * vectorLength(v2));
+    angle = Atan2d(angles, angle);
+    for(i = 0, sum = .0; i < 3; i++){
+      sum += v3[i][0];
+    }
+    if(sum < 0){
+      angle *= -1.;
+    }
+  } else {
+    angle = Acosd(angle);
+  }
+  return angle;
+}
+
 
 /*----------------------------------------------------------------------*/
 void scaleVector(MATRIX v, double scale)