Merge branch 'master' of https://github.com/Woolfrey/software_robot_library

Author: Woolfrey

Trajectory/README.md

@@ -21,7 +21,7 @@ This sub-library contains classes for generating trajectories; paths as function
 ## Data Structures
 
 <p align="center">
-  <img src="doc/image.png" width="300" height="auto"/>
+  <img src="doc/Structs.png" width="600" height="auto"/>
 </p>
 
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@@ -45,7 +45,7 @@ The purpose of this class is to provide a standardised structure to all trajecto
 ### Class Diagram:
 
 <p align="center">
-  <img src="doc/image.png" width="300" height="auto"/>
+  <img src="doc/TrajectoryBase.png" width="700" height="auto"/>
 </p>
 
 [:top: Back to Top](#stopwatch-trajectory)
@@ -54,6 +54,10 @@ The purpose of this class is to provide a standardised structure to all trajecto
 
 This class builds on the `RobotLibrary::Math::Spline` object to create a spline as a function of time, over multiple dimensions. This is useful for generating joint trajectories, for example.
 
+<p align="center">
+  <img src="doc/SplineOutput.png" width="400" height="auto"/>
+</p>
+
 ### Construction:
 
 1. An vector of `RobotLibrary::Trajectory::State` structs specifying the waypoints,
@@ -73,7 +77,7 @@ There is only 1 method: `query_state` returns the position, velocity, and accele
 ### Class Diagram:
 
 <p align="center">
-  <img src="doc/image.png" width="300" height="auto"/>
+  <img src="doc/SplineTrajectory.png" width="700" height="auto"/>
 </p>
 
 [:top: Back to Top](#stopwatch-trajectory)
@@ -101,7 +105,7 @@ The `query_state` method gives a `RobotLibrary::Trajectory::CartesianState` for
 ### Class Diagram:
 
 <p align="center">
-  <img src="doc/image.png" width="300" height="auto"/>
+  <img src="doc/CartesianSpline.png" width="800" height="auto"/>
 </p>
 
 [:top: Back to Top](#stopwatch-trajectory)
@@ -110,6 +114,10 @@ The `query_state` method gives a `RobotLibrary::Trajectory::CartesianState` for
 
 This class generates a trajectory where the velocity follows a trapezoid; ramping up at a constant acceleration, coasting at a constant velocity, then ramping down to a constant decelaration. It can also handle multiple waypoints.
 
+<p align="center">
+  <img src="doc/TrapezoidOutput.png" width="400" height="auto"/>
+</p>
+
 > [!NOTE]
 > Each waypoint starts and ends with zero velocity, due to the complexity of computation. For smooth transitions, it's better to use a spline.
 
@@ -130,7 +138,7 @@ Just one: the `query_state` method returns an `RobotLibrary::Trajectory::State`
 ### Class Diagram:
 
 <p align="center">
-  <img src="doc/image.png" width="300" height="auto"/>
+  <img src="doc/Trapezoidal.png" width="800" height="auto"/>
 </p>
 
 [:top: Back to Top](#stopwatch-trajectory)