2.1 3D homogeneous transforms
  eulzxz
  ieulzxz
  irotk
  irpy
  rotd
  rotk
  rpy
  rotx, roty, rotz
  trans
 2.2 The Quaternion class
  constructors
  operators
  conjugate and inverse
  exponential and logarithm
  dot_product
  quaternion time derivative
  unit and norm
  s and v
  Rotation matrices
  Omega, ω
  Slerp
  Slerp_prime
  Squad
  Squad_prime
 2.3 The Robot and mRobot classes
  2.3.1 Robot and mRobot object initialization
  constructors
  get_q, get_qp, get_qpp
  set_q, set_qp, set_qpp
  2.3.2 Kinematics
  inv_kin
  inv_kin_rhino
  inv_kin_puma
  jacobian
  jacobian_dot
  jacobian_DLS_inv
  kine
  kine_pd
  dTdqi
  2.3.3 Dynamics
  acceleration
  inertia
  torque
  torque_novelocity
  G and C
  2.3.4 Linearized dynamics
  delta_torque
  dq_torque
  dqp_torque
  dtau_dq
  dtau_dqp
  perturb_robot
 2.4 The Spl_Cubic class
  Constructor
  s, ds and dds
 2.5 The Spl_path class
  Constructor
  p, dp, ddp
 2.6 The Spl_Quaternion class
  Constructor
  quat and quat_w
 2.7 The Trajectory_Select class
  Constructor
  set_trajectory
 2.8 The CLIK class
  Constructor
  q_qdot
 2.9 The Proportional_Derivative class
  Constructor
  torque_cmd
  K_d, K_p
 2.10 The Computed_torque_method class
  Constructor
  torque_cmd
  K_d, K_p
 2.11 The Resolve_acc class
  Constructor
  torque_cmd
  K_pp, K_vp, K_po, K_vo
 2.12 The Impedance class
  Constructor
  control
  M_p, D_p, K_p, M_o, D_o, K_o
 2.13 The Control_Select class
  Constructor
  get_dof
  set_control
 2.14 The Stewart class
 2.15 The IO_matrix_file class
  Constructor
  write
  read
 2.16 Graphics
  Plot2d class
  Constructor
  addcommand
  addcurve
  dump
  gnuplot
  settitle
  setxlabel
  setylabel
  Plot_file class
  Constructor
  graph
  set_plot2d
 2.17 Config class
  Config
  Reading and writing
  select
  add
 2.18 Miscellaneous
  odeint
  Runge_Kutta4
  Integ_Trap
  pinv
  vec_dot_prod
  x_prod_matrix
 2.19 Summary of functions