C++ API

Class Hierarchy

- Namespace roboplan
  - Struct Barrier
  - Struct ConfigurationTask
  - Struct ConfigurationTaskOptions
  - Struct ConstraintAxisSelection
  - Struct Constraints
  - Struct FrameTask
  - Struct FrameTaskOptions
  - Struct Oink
  - Struct PositionBarrier
  - Struct PositionLimit
  - Struct Task
  - Struct VelocityLimit

File Hierarchy

- Directory include
  - Directory roboplan_oink
    - Directory barriers
      - File position_barrier.hpp
    - Directory constraints
      - File position_limit.hpp
      - File velocity_limit.hpp
    - Directory tasks
      - File configuration.hpp
      - File frame.hpp
    - File optimal_ik.hpp