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Updated documentation
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‎Math/include/Math/DataStructures.h‎

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* @file DataStructures.h
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* @author Jon Woolfrey
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* @email [email protected]
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* @date April 2025
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* @version 1.0
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* @date July 2025
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* @version 1.1
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* @brief Data structures used in math functions & classes.
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*
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* @copyright Copyright (c) 2025 Jon Woolfrey
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*
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* @license GNU General Public License V3
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* @copyright (c) 2025 Jon Woolfrey
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*
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* @license OSCL - Free for non-commercial open-source use only.
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* Commercial use requires a license.
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*
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* @see https://github.com/Woolfrey/software_robot_library for more information.
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*/

‎Math/include/Math/MathFunctions.h‎

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* @file MathFunctions.h
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* @author Jon Woolfrey
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* @email [email protected]
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* @date February 2025
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* @version 1.0
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* @date July 2025
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* @version 1.1
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* @brief Useful math functions for robot kinematics & control.
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*
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* @details This header files contains forward declarations for useful math functions that are not
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* offered by the Eigen library.
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*
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* @copyright Copyright (c) 2025 Jon Woolfrey
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*
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* @license GNU General Public License V3
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* @copyright (c) 2025 Jon Woolfrey
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*
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* @license OSCL - Free for non-commercial open-source use only.
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* Commercial use requires a license.
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*
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* @see https://github.com/Woolfrey/software_robot_library for more information.
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*/

‎Math/include/Math/Polynomial.h‎

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* @file Polynomial.h
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* @author Jon Woolfrey
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* @email [email protected]
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* @date April 2025
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* @version 1.0
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* @date July 2025
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* @version 1.1
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* @brief Represents a polynomial function.
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*
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* @details This class represents a polynomial function of the form f(x) = a_0 + a_1 * x + a_2 * x^2 + ...
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* By querying a point it can return the interpolated value and its derivatives.
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*
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* @copyright Copyright (c) 2025 Jon Woolfrey
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*
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* @license GNU General Public License V3
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* @copyright (c) 2025 Jon Woolfrey
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*
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* @license OSCL - Free for non-commercial open-source use only.
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* Commercial use requires a license.
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*
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* @see https://github.com/Woolfrey/software_robot_library for more information.
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*/

‎Math/include/Math/SkewSymmetric.h‎

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* @file SkewSymmetric.h
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* @author Jon Woolfrey
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* @email [email protected]
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* @date April 2025
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* @version 1.0
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* @date July 2025
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* @version 1.1
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* @brief Represents a 3D skew-symmetric matrix such that S^T = -S.
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*
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* @details This class is used to generate a skew-symmetric matrix for use in computations that
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* are otherwise not offered by the Eigen library. Eigen offers the cross() method for
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* 3D vectors, but does not enable representation as a matrix-vector product.
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*
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* @copyright Copyright (c) 2025 Jon Woolfrey
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*
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* @license GNU General Public License V3
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* @copyright (c) 2025 Jon Woolfrey
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*
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* @license OSCL - Free for non-commercial open-source use only.
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* Commercial use requires a license.
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*
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* @see https://github.com/Woolfrey/software_robot_library for more information.
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*/

‎Math/include/Math/Spline.h‎

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* @file Spline.h
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* @author Jon Woolfrey
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* @email [email protected]
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* @date April 2025
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* @version 1.0
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* @date July 2025
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* @version 1.1
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* @brief Represents a series of RobotLibrary::Math::Polynomials connecting several points.
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*
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* @details This class will interpolate across multiple points using piecewise RobotLibrary::Math::Polynomials.
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* It currently supports cubic splines, and ensures continuity down to the second derivative.
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* Higher order RobotLibrary::Math::Polynomials are possible, but continuity of derivatives is not yet supported (please help!)
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*
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* @copyright Copyright (c) 2025 Jon Woolfrey
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*
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* @license GNU General Public License V3
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* @copyright (c) 2025 Jon Woolfrey
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*
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* @license OSCL - Free for non-commercial open-source use only.
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* Commercial use requires a license.
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*
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* @see https://github.com/Woolfrey/software_robot_library for more information.
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*/

‎Math/src/MathFunctions.cpp‎

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* @file MathFunctions.cpp
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* @author Jon Woolfrey
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* @email [email protected]
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* @date April 2025
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* @version 1.0
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* @date July 2025
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* @version 1.1
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* @brief Useful math functions for robot kinematics & control.
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*
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* @details This header files contains forward declarations for useful math functions that are not
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* offered by the Eigen library.
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*
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* @copyright Copyright (c) 2025 Jon Woolfrey
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*
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* @license GNU General Public License V3
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* @copyright (c) 2025 Jon Woolfrey
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*
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* @license OSCL - Free for non-commercial open-source use only.
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* Commercial use requires a license.
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*
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* @see https://github.com/Woolfrey/software_robot_library for more information.
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*/

‎Math/src/Polynomial.cpp‎

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* @file Polynomial.cpp
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* @author Jon Woolfrey
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* @email [email protected]
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* @date April 2025
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* @version 1.0
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* @date July 2025
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* @version 1.1
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* @brief Represents a polynomial function.
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*
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* @details This class represents a polynomial function of the form f(x) = a_0 + a_1 * x + a_2 * x^2 + ...
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* By querying a point it can return the interpolated value and its derivatives.
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*
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* @copyright Copyright (c) 2025 Jon Woolfrey
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*
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* @license GNU General Public License V3
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* @copyright (c) 2025 Jon Woolfrey
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*
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* @license OSCL - Free for non-commercial open-source use only.
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* Commercial use requires a license.
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*
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* @see https://github.com/Woolfrey/software_robot_library for more information.
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*/

‎Math/src/SkewSymmetric.cpp‎

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* @file SkewSymmetric.cpp
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* @author Jon Woolfrey
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* @email [email protected]
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* @date April 2025
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* @version 1.0
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* @date July 2025
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* @version 1.1
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* @brief Represents a 3D skew-symmetric matrix such that S^T = -S.
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*
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* @details This class is used to generate a skew-symmetric matrix for use in computations that
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* are otherwise not offered by the Eigen library. Eigen offers the cross() method for
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* 3D vectors, but does not enable representation as a matrix-vector product.
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*
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* @copyright Copyright (c) 2025 Jon Woolfrey
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*
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* @license GNU General Public License V3
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* @copyright (c) 2025 Jon Woolfrey
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*
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* @license OSCL - Free for non-commercial open-source use only.
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* Commercial use requires a license.
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*
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* @see https://github.com/Woolfrey/software_robot_library for more information.
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*/

‎Math/src/Spline.cpp‎

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@@ -2,17 +2,18 @@
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* @file Spline.cpp
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* @author Jon Woolfrey
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* @email [email protected]
5-
* @date April 2025
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* @version 1.0
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* @date July 2025
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* @version 1.1
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* @brief Represents a series of polynomials connecting several points.
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*
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* @details This class will interpolate across multiple points using piecewise polynomials.
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* It currently supports cubic splines, and ensures continuity down to the second derivative.
1111
* Higher order polynomials are possible, but continuity of derivatives is not yet supported (please help!)
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*
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* @copyright Copyright (c) 2025 Jon Woolfrey
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*
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* @license GNU General Public License V3
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* @copyright (c) 2025 Jon Woolfrey
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*
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* @license OSCL - Free for non-commercial open-source use only.
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* Commercial use requires a license.
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*
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* @see https://github.com/Woolfrey/software_robot_library for more information.
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*/

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