Catmull-ROM splines

Hermite splines

Parent Sections 3.1, 3.2, 4.1, B.5.1, B.5.2, B.5.5., B.5.6

Lengyel: 11.1-11.4

Solving equations using Eigen: Solve and equation with Eigen/Solve for Hermite slopes using Eigen

Hermite endpoint conditions: Clamped/Natural