Spline Interpolation example

The URScript code inside external_control.urscript implements trajectory execution based upon spline interpolation of a given sequence of waypoints.

Depending on the waypoint parametrization, either cubic splines (positions, velocities, times) or quintic splines (positions, velocities, accelerations, times) will be used.

The example in spline_example.cpp shows how to use the Trajectory Point Interface to execute trajectories using this spline interpolation.