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 List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
 Nspline
 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
 CBern
 Cbezier_curve
 Ccurve_abcRepresents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of the curve
 Ccurve_constraints
 Cexact_cubic
 CpolynomRepresents 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_deriv_constraintRepresents 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
 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
 CExactCubicRepresents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization