models.rigid.spline¶

A natural cubic spline through points that are Params, written in CasADi operations.

Functions

`curvature_map`(m)	The matrix E with E @ y the second derivatives of the natural spline through m values y, one unit of the parameter apart (zero at both ends).
`spline_point`(points, u)	The point (3, 1) at `u`, in [0, m - 1], of the natural cubic spline through the rows of `points` (m, 3), which are one unit of `u` apart; past the ends the end cubics go on.