The API of any Reflexxes Motion Library was designed to be very compact and easy-to-use. The only relevant class for user applications is
with its two methods ReflexxesAPI::RMLPosition() to execute the position-based On-line Trajectory Generation algorithm and ReflexxesAPI::RMLVelocity() for the velocity-based algorithm. These two methods make use of the classes
which furthermore use the simple vector class
All classes mentioned on this website constitute the entire API of any Reflexxes Motion Library.