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README.md

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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.