template discretization methods

CMakeLists.txt

include/bezier-com-traj/common_solve_methods.hh

include/bezier-com-traj/common_solve_methods.inl

include/bezier-com-traj/utils.hh

include/bezier-com-traj/waypoints/waypoints_definition.hh

src/CMakeLists.txt

src/common_solve_methods.cpp

src/costfunction_definition.cpp

src/solve_transition.cpp

src/utils.cpp