"template based classes for creating and manipulating spline and bezier curves. Comes with extra options specific to end-effector trajectories in robotics."
@@ -12,6 +12,8 @@ To do so, tools are provided to:
- constrain initial / end velocities and acceleration for the spline.
- constrain take-off and landing phases to follow a straight line along a given normal (to avoid undesired collisions between the effector and the contact surface)
- automatically handle 3d rotation of the effector.
- create curves in SO3
- support partial symbolic differentiation of curves. You can represent control points as linear variables, and integrate / differentiate those variable curves. You can also compute the cross product of two curves, which is relevant for centroidal dynamics.