Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 123]

▼Nndcurves
▼Nhelpers
Ceffector_spline_rotation	Represents 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
▼Noptimization
Cproblem_data
Cproblem_definition
Cquadratic_problem
▼Nserialization
CSerializable
CBern
Cbezier_curve
Cconstant_curve	Represents a constant_curve curve, always returning the same value and a null derivative
Ccubic_hermite_spline
Ccurve_abc	Represents a curve of dimension Dim. If value of parameter Safe is false, no verification is made on the evaluation of the curve
Ccurve_constraints
Cexact_cubic
Clinear_variable
Cpiecewise_curve
Cpolynomial	Represents a polynomial of an arbitrary order defined on the interval \([t_{min}, t_{max}]\). It follows the equation : \( x(t) = a + b(t - t_{min}) + ... + d(t - t_{min})^N \) where N is the order and \( t \in [t_{min}, t_{max}] \)
Cquadratic_variable
CSE3Curve	Composition of a curve of any type of dimension 3 and a curve representing an rotation (in current implementation, only SO3Linear can be used for the rotation part) The output is a vector of size 7 (pos_x,pos_y,pos_z,quat_x,quat_y,quat_z,quat_w) The output of the derivative of any order is a vector of size 6 (linear_x,linear_y,linear_z,angular_x,angular_y,angular_z)
Csinusoidal	Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi)
CSO3Linear	Represents a linear interpolation in SO3, using the slerp method provided by Eigen::Quaternion
CSO3Smooth
CBezierCurve	Represents 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
CCubicHermiteSpline	Represents a set of cubic hermite splines defining a continuous function \(p(t)\). A hermite cubic spline is a minimal degree polynom interpolating a function in two points \(P_i\) and \(P_{i+1}\) with its tangent \(m_i\) and \(m_{i+1}\). A hermite cubic spline :
CExactCubic	Represents a set of cubic splines defining a continuous function crossing each of the waypoint given in its initialization
CPiecewiseCurve	Represent a piecewise curve. We can add some new curve, but the starting time of the curve to add should be equal to the ending time of the actual piecewise_curve. \ Example : A piecewise curve composed of three curves cf0, cf1 and cf2 where cf0 is defined between \([T0_{min},T0_{max}]\), cf1 between \([T0_{max},T1_{max}]\) and cf2 between \([T1_{max},T2_{max}]\). On the piecewise polynomial curve, cf0 is located between \([T0_{min},T0_{max}[\), cf1 between \([T0_{max},T1_{max}[\) and cf2 between \([T1_{max},T2_{max}]\)