Formulae sheet:

 2 2 1 1 1 3  3 1  1  2 1
 3 3  2  1  3 6 3 0 [ M B ]   2 2 0
[M H ]    [M B ]  
0 0 1 0  3 3 0 0  1 0 0
   
1 0 0 0 1 0 0 0

 1 3  3 1 
 1  2 1   
1 1 3 6 3 0 
 2 2 0 [M S ] =  
[MS] = 2   3 0 3 0 
 1 1 0 6 
 0 
 1 4 1

N i ,k 1 (u ) N i 1,k 1 (u )
N i ,k (u )  (u  ti )  (ti  k  u )
(ti  k 1  ti ) (ti  k  ti 1 )
where
 1, ti  u  ti 1
N i ,1  
0, otherwise

 0, ik

Formula for estimating ti is ti  i  k  1, k  i  n
 n  k  2, in


Internal tangent vectors for chord length approximated Hermite curve with C 2 continuity at the
joints.
 P0' 
1  P   3 2 
 
'
0 0 0
u1 P2  P1   u22 P1  P0  
0
u 2u2  u1  u1 0    '
 2   P    u1u2
1 
0 u3 2u3  u2  u2 
  P   3 u 2 P  P   u 2 P  P  
'

   u u 2 3 2 1 
2
3 2
  P   2 3
'
0 0 0 1 3 
 P3' 