Fix function names
Symbol renaming: aa_region -> aa_mem_region
Move source files to subdirectory
Fix c++ compilation
Convert trapvel to C
C workspace trajectories
Basic SLERP-orientation workspace trajectory
Use amino rlists for trajectory points
Trivial cartesian trajectories with via points
Implement parabolic blends with via points
Spherical blend translations
Spherical blend orientations
Fix sizes
Plot options and labels
Quash C++ compat warnings
Wrap workspace control state/ref and gain structs
Plot joint position and velocity
Use deadzone-based damped least squares in workspace control
Integrate workspace velocities

* Use quaternion derivative to integrate angular velocities
Computer kinematics numerically