> - create **exact** splines of arbitrary order (that pass exactly by an arbitrary number waypoints)
> - constrain initial / end velocities and acceleration for the spline.
> - constrain take-off and landing phases to follow a straight line along a given normal (to avoid undesired collisions between the effector and the contact surface)
> automatically handle 3d rotation of the effector.
> - automatically handle 3d rotation of the effector.
The library is template-based, thus generic: the curves can be of any dimension, and can be implemented in double, float ...
