
class  BsplineTrajectory 
 Represents a Bspline curve using a given basis with ordered control_points such that each control point is a matrix in ℝʳᵒʷˢ ˣ ᶜᵒˡˢ. More...


class  ExponentialPlusPiecewisePolynomial 
 y(t) = K * exp(A * (t  t_j)) * alpha.col(j) + piecewise_polynomial_part(t) More...


class  PiecewisePolynomial 
 A scalar multivariate piecewise polynomial. More...


class  PiecewisePose 
 A wrapper class that represents a pose trajectory, whose rotation part is a PiecewiseQuaternionSlerp and the translation part is a PiecewisePolynomial. More...


class  PiecewiseQuaternionSlerp 
 A class representing a trajectory for quaternions that are interpolated using piecewise slerp (spherical linear interpolation). More...


class  PiecewiseTrajectory 
 Abstract class that implements the basic logic of maintaining consequent segments of time (delimited by breaks ) to implement a trajectory that is represented by simpler logic in each segment or "piece". More...


class  Trajectory 
 A Trajectory represents a timevarying matrix, indexed by a single scalar time. More...

