• compareDiff() : stomp_example.cpp , stomp_3dof.cpp
• computeCubicInterpolation() : stomp.cpp
• computeLinearInterpolation() : stomp.cpp
• computeMinCostTrajectory() : stomp.cpp
• computeParametersControlCosts() : stomp.cpp
• create3DOFConfiguration() : stomp_3dof.cpp , stomp_example.cpp
• interpolate() : stomp_example.cpp , stomp_3dof.cpp
• main() : stomp_example.cpp
• TEST() : stomp_3dof.cpp