Module spline 

Waypoint-based spline path construction and evaluation kernels.

Design

All splines are odd-order (p = 2m+1, m >= 1):

• order 3 (m=1): C2 cubic, boundary specifies v at both ends
• order 5 (m=2): C4 quintic, boundary specifies v,a at both ends
• order 7 (m=3): C6 septic, boundary specifies v,a,j at both ends

The user supplies start_state and end_state matrices of shape (dim, m), where column r-1 contains the r-th derivative value at the endpoint. None means all-zero (the most common default).

Internally, all orders share a single solve_general_thomas solver that implements the O(N) block-Thomas algorithm on the m×m block-tridiagonal system arising from Hermite parametrisation + C^{m+1}..C^{2m} continuity.

Structs

SplineConfig

Configuration for waypoint-spline path construction.

SplinePath

Piecewise-polynomial path in normalised segment coordinates.

Enums

Parametrization

Parameter assignment policy for waypoint splines.