Single Hermite Cubic Spline

Solve:
al 0 0 0 Xo
a l =XO a3 = -3xo + 3x l - 2x~ - x; a2 0 0 0 Xl
=
a3 -3 3 -2 -1 Xo
a2 = Xo a 4 = 2xo - 2Xl + X~ + X;
a4 2 -2 1 Xl

0::;/::;1

This produces the x-component of the equation for a cubic spline:

1 0 0 0 Xo

3
0 0 0 Xl
X(/) = [1 I 12 1 ]
-3 3 -2 -1 Xo
2 -2 Xl

Similarly, the y-component and z-component are:

1 0 0 0 Yo
3
0 0 1 0 Yl
Y(/) = [1 I 12 1 ]
-3 3 -2 -1 Yo
2 -2 Yl

0 0 0 Zo

3
0 0 0 Zl
z(t) = [1 I 12 1 ] 0::;/::;1
-3 3 -2 -1 Zo
2 -2 1 Zl

The general form of a single cubic spline can be written as:

0 0 0 Po
0 0 0 PI 0::;/::;1
pet) = [1 I 12 1
3
]
-3 3 -2 -1 Po
2 -2 PI
 Composite Hermite Cubic Spline

For a 2 segment composite curve, the intermediate tangent vector is given by:

For a 5 segment composite curve, the intermediate tangent vectors are given by:

-
4 1 0 0 ~ -~ -3P o +3P2
1 4 0 P; 0
-3P, +3P3
= +

0 1 4 p;' 0
-3P 2 +3P4
0 0 4 P~ -P;
-3P3 +3P 5