Module hermite

Creating hermite splines
Initializing their derivatives using Catmull-Rom
Getting position and derivative values of the splines

Modules

• matrix 🔒
• spline 🔒

Macros

• curve_params_getter 🔒
  Simplify defining functions to calculate position(x,y,z) or its derivatives from the coefficients.
  Uses a polynomial representation.

Structs

• CurveParams
  A single hermite curve
• Spline
  A hermite spline, each curve parameterized by CurveParms.

Functions

• catmull_rom
  Uses Catmull-Rom to calculate derivatives
• catmull_rom_recursive
  Gets derivatives using Catmull-Rom, then gets derivatives of derivatives, …
• curve_points
  Samples a hermite curve, splitting it into segments segments
  The segments are not equal in length
• set_derivatives_using_catmull_rom
  Sets the first three derivatives using recursive cardinal curves.
  This is needed to get reasonable starting values for the derivatives.
  That way the optimization can proceed smoothly.
• solve
  Given two points, finds a hermite curve interpolating them.