Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
 Nparametriccurves
 Nspatial
 CForceCurveRepresentation of a spatial vector curve in the form of splines Returns Plucker coordinates in the form of (Linear(3), Angular(3))
 CAbstractCurveRepresents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve
 CConstant
 Ccurve_constraints
 CInfiniteConstAccCreates InfiniteConstAcc curve s = s_0 + u_0*t+0.5*a_0*t^2
 CInfiniteSinusoidCreates InfiniteSinusoid curve The sinusoid is actually a cosine so that it starts with zero velocity. Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time)
 CLinearChirpCreates LinearChirp curve Linear chirp trajectory generator. A linear chirp is a sinusoid whose frequency is a linear function of time. In particular the frequency starts from a value f0 and it increases linearly up to a value f1. Then it goes back to f0 and the trajectory is ended
 CMinimumJerkCreates MinimumJerk curve
 CPolynomialRepresents a Polynomialf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + ... + d(t - t_min_)^N, where N is the order
 CSplineRepresents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization
 CTextFileLoads curve from file
 Nserialization
 CSerializable
 Nspline
 Nhelpers
 Crotation_spline
 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
 CBern
 Cbezier_curve
 CSplineOptimizerMosek connection to produce optimized splines
 CBernsteinComputes a Bernstein polynome
 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