Rafael A. Rojas

Make Basis singleton

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## Motivation The `Basis` represent an abstract mathematical object that is unique, in the sense that it only provide the evaluations of objects that do not change. In the same...

Implement CI/CD with github actions and create .deb packages and upload them into releases

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- [use releases](https://docs.github.com/en/repositories/releasing-projects-on-github/managing-releases-in-a-repository) - [install apt-get from github releases](https://github.com/rafaelrojasmiliani/github-apt-repos)

- Compare with [ruckig](https://github.com/pantor/ruckig) [paper](https://arxiv.org/pdf/2105.04830.pdf) - Compare with [Reflexxes](http://www.reflexxes.ws/) [paper](http://www.reflexxes.ws/software/typeiirml/v1.2.6/docs/papers/ReflexxesICRA2011.pdf) - [ecl_geometry](http://wiki.ros.org/ecl_geometry) - [pathfinder](https://github.com/JaciBrunning/Pathfinder) - [Topico](https://github.com/AIS-Bonn/TopiCo)

At the commit 8b53d24, functions are only intended to represent curves. However, in order to reresent maps between manifolds we can expand this type into maps from R^n into R^m....

See [here](https://www.py4u.net/discuss/94828) and [here](https://stackoverflow.com/questions/16064288/gcc-optimization-flags-for-matrix-vector-operations)

Add support to compute polynomial gsplines based on Positive Polynomials. - Implement representation using PSD matrices. (for hankel matrix handling see [here](https://github.com/scipy/scipy/blob/v1.7.1/scipy/linalg/special_matrices.py#L243-L297)) - Implement the differential of the exponential [see...

The implementation of the basis must be fixed in order to reduce the code in their derived classes. We require - Fast implementation of n-th derivative matrix (returned as a...