This is a C++ library for planning robot trajectories, mainly composed of three components:

• An implementation of B-splines curves, in joint-space and Cartesian space.
• High-level classes to fit B-splines to sparse joint-space and Cartesian-space paths.
• An implementation of the trajectory planning method described in this paper:

F. Pfeiffer and R. Johanni, "A concept for manipulator trajectory planning,"
Proceedings. 1986 IEEE International Conference on Robotics and Automation,
San Francisco, CA, USA, 1986, pp. 1399-1405, doi: 10.1109/ROBOT.1986.1087500.