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Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
 Nndcurves
 Nhelpers
 Ceffector_spline_rotationRepresents a trajectory for and end effector. uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space
 Crotation_spline
 Noptimization
 Cproblem_data
 Cproblem_definition
 Cquadratic_problem
 Nserialization
 CSerializable
 CBern
 Cbezier_curve
 Cconstant_curveRepresents a constant_curve curve, always returning the same value and a null derivative
 Ccubic_hermite_spline
 Ccurve_abcRepresents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on the evaluation of the curve
 Ccurve_constraints
 Cexact_cubic
 Clinear_variable
 Cpiecewise_curve
 CpolynomialRepresents a polynomial of an arbitrary order defined on the interval $[t_{min}, t_{max}]$. It follows the equation :
$ x(t) = a + b(t - t_{min}) + ... + d(t - t_{min})^N $
where N is the order and $ t \in [t_{min}, t_{max}] $
 Cquadratic_variable
 CSE3CurveComposition of a curve of any type of dimension 3 and a curve representing an rotation (in current implementation, only SO3Linear can be used for the rotation part) The output is a vector of size 7 (pos_x,pos_y,pos_z,quat_x,quat_y,quat_z,quat_w) The output of the derivative of any order is a vector of size 6 (linear_x,linear_y,linear_z,angular_x,angular_y,angular_z)
 CsinusoidalRepresents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi)
 CSO3LinearRepresents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion
 CBezierCurveRepresents a Bezier curve of arbitrary dimension and order. For degree lesser than 4, the evaluation is analitycal. Otherwise the bernstein polynoms are used to evaluate the spline at a given location
 CCubicHermiteSplineRepresents a set of cubic hermite splines defining a continuous function $p(t)$. A hermite cubic spline is a minimal degree polynom interpolating a function in two points $P_i$ and $P_{i+1}$ with its tangent $m_i$ and $m_{i+1}$.
A hermite cubic spline :
 CExactCubicRepresents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization
 CPiecewiseCurveRepresent a piecewise curve. We can add some new curve, but the starting time of the curve to add should be equal to the ending time of the actual piecewise_curve.
\ Example : A piecewise curve composed of three curves cf0, cf1 and cf2 where cf0 is defined between $[T0_{min},T0_{max}]$, cf1 between $[T0_{max},T1_{max}]$ and cf2 between $[T1_{max},T2_{max}]$. On the piecewise polynomial curve, cf0 is located between $[T0_{min},T0_{max}[$, cf1 between $[T0_{max},T1_{max}[$ and cf2 between $[T1_{max},T2_{max}]$