hpp-spline  4.10.0
template based classes for creating and manipulating spline and bezier curves. Comes with extra options specific to end-effector trajectories in robotics.
Class Hierarchy

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This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 1234]
 Cspline::Bern< Numeric >
 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
 Cspline::curve_constraints< Point >
 Cspline::helpers::effector_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
 CExactCubicRepresents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization
 Cspline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >Mosek connection to produce optimized splines
 Cunary_function
 Cspline::curve_abc< double, double, 3, false, Eigen::Matrix< double, 3, 1 > >
 Cspline::bezier_curve< Time, Numeric, Dim, Safe, Point >
 Cspline::exact_cubic< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >
 Cspline::polynom< Time, Numeric, Dim, Safe, Point, T_Point >Represents a polynomf 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
 Cspline::curve_abc< double, double, Dim, Safe, Eigen::Matrix< double, 3, 1 > >
 Cspline::exact_cubic< double, double, 3, false, Eigen::Matrix< double, 3, 1 >, std::vector< Eigen::Matrix< double, 3, 1 >, Eigen::aligned_allocator< Eigen::Matrix< double, 3, 1 > > >, polynom< double, double, 3, false, Eigen::Matrix< double, 3, 1 >, std::vector< Eigen::Matrix< double, 3, 1 >, Eigen::aligned_allocator< Eigen::Matrix< double, 3, 1 > > > > >
 Cspline::spline_deriv_constraint< Time, Numeric, Dim, Safe, Point, T_Point, SplineBase >Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization. Additional constraints are used to increase the order of the last spline, to start and finish trajectory with user defined velocity and acceleration
 Cspline::curve_abc< Numeric, Numeric, Dim, Safe, point_one_dim_t >
 Cspline::exact_cubic< Numeric, Numeric, Dim, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > >, polynom< Numeric, Numeric, Dim, Safe, point_one_dim_t, std::vector< point_one_dim_t, Eigen::aligned_allocator< point_one_dim_t > > > >
 Cspline::spline_deriv_constraint< Numeric, Numeric, 1, false, point_one_dim_t >
 Cspline::curve_abc< Time, Numeric, Dim, Safe, Point >Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve
 Cspline::helpers::rotation_spline