for evaluating traj, should be called in sequence!!! */

get Bspline paramterization data of a fixed duration local trajectory start_t: start time of the trajectory duration: time length of the segment seg_n

get Bspline paramterization data of a local trajectory within a sphere start_t: start time of the trajectory dist_pt: distance between the discretized

The rhs of x' = f(x) */

* \brief Returns true if the stepper has been initialized, false otherwise. * * \return true, if the stepper has been initialized, false oth