Trajectory Planner using Ruckig Lib

@grotius I have no experience with c++ kernel modules, but wrapping c++ in "extern C" interface definitely is not enough to make it work. exceptions are a problem, as is rtti, dynamic memory, global constructors/destructors etc... all won't work out of the box. There is no kernel-compatible standard library. Stack size.

Here is an older talk about what hoops a company had to go through to get their c++ hypervisor stuff loaded into linux kernel.

I would be interested how your approach to get c++ (and libruckig) into the kernel works.

I've been buried under the lab workload in the lab for the last 3 weeks so Grotius was carrying this coding ship all by himself (sorry man), I'm finally back to work on putting some Doxygen documentation into the code to make it easier for others to see the details.

Quick question, why has Open Cascade become a build dependency?

I have created an "scurve" branch at the point before all the UI additions so we can keep some separation of focus.

I have been tinkering with graphviz to map out some of the call hierarchy that happens around the trajectory planner.   This might be of use to someone.
Here is the image as it stands:
 

Here is the graphviz dot code for the image:
 

Cheers - James.
 

Hi Joco,

Nice work! Soon going on with scurve.