splines
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Python package for creating interpolating splines (for position and rotation)
Regarding section "Non-Uniform Cubic Hermite Splines", section 8, where you derive the derivative.  Why does the 2 get distributed inside the brackets here? Wouldn't it be better written 2C4(t...
For example: Huynh, H.T. (1993) ‘Accurate Monotone Cubic Interpolation’, SIAM Journal on Numerical Analysis, 30(1), pp. 57–100. Available at: https://doi.org/10.1137/0730004. Wolberg, G. and Alfy, I. (2002) ‘An energy-minimization framework for...
http://www.cemyuksel.com/research/interpolating_splines/ Cem Yuksel A Class of C2 Interpolating Splines ACM Transactions on Graphics, 39, 5, 2020 https://doi.org/10.1145/3400301
See https://qspline.sourceforge.net/ and especially https://qspline.sourceforge.net/qspline.pdf James McEnnan (2003), "Quaternion Cubic Spline"
Developed in: G. Nielson and T. Foley. A survey of applications of an affine invariant norm. In T. Lyche and L. Schumaker, editors. Mathematical Methods in CAGD, pages 445-467. Academic...
According to Farin (2002), "Curves and Surfaces for CAGD", section 9.5 This should be simple: * create a quadratic curve from the first 3 control points * calculate the tangent...
$\nu$-splines Both Euclidean and quaternion. For letter, see: Nielson, G.M. (2004) ‘ν-Quaternion splines for the smooth interpolation of orientations’, IEEE transactions on visualization and computer graphics, 10(2), pp. 224–229.
Wang, W. and Joe, B. (1993) ‘Orientation Interpolation in Quaternion Space Using Spherical Biarcs’, in Graphics Interface, pp. 24--32. Available at: http://hdl.handle.net/10722/151799.
https://docs.scipy.org/doc/scipy/reference/generated/scipy.interpolate.Akima1DInterpolator.html