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In multicontact-api and MLP we use SO3 (and SE3) curves.

SO3 should be initialized with 2 quaternion and a duration and output a quaternion which is the result of the slerp method. Main issue here is that the return dimension is 4 but the return size of the derivative is 3.

SE3 is not really required but would be easier for the user. It is basically the composition of a SO3 and any kind of curve of dimension 3.

I can implement them but I am not sure about the best way to do it (ie what should be their parent class) ? Ideally we should be able to make piecewise SO3/SE3 without changing the code of the piecewise templated class.