C++ API

Class Hierarchy

- Namespace chomp
  - Class ChompCost
  - Class ChompOptimizer
  - Class ChompParameters
  - Class ChompPlanner
  - Class ChompTrajectory
  - Class MultivariateGaussian

File Hierarchy

- Directory include
  - Directory chomp_motion_planner
    - File chomp_cost.h
    - File chomp_optimizer.h
    - File chomp_parameters.h
    - File chomp_planner.h
    - File chomp_trajectory.h
    - File chomp_utils.h
    - File multivariate_gaussian.h