Prints a path

Prints a point (sphere)

Prints a point (sphere)

A simple test to check that the active constraints are tracked

Tests angle wrapping for angular splines

Moving one DoF and checking that the tip leg indeed moves

We also move one DoF but by accessing state().q

Some basic tests on the Cubic spline

Testing what happens if a problem is *exactly* constrained

Testing expr_t, that allows adding constraints that are not aligned with integrator timesteps

Testing basic expression shapes

Performs basic checks on the wrapper