(Press et al. 1992), sometimes known as RK4. This method is reasonably simple and robust and is a good general candidate for numerical solution of differential equations when combined with an intelligent adaptive step-size routine. ReferencesAbramowitz, M. and Stegun, I. A. (Eds.). Handbook of Mathematical Functions with Formulas, Graphs, and Mathematical Tables, 9th printing. New York: Dover, pp.
is a B-spline. Specific types include the nonperiodic B-spline (first knots equal 0 and last equal to 1; illustrated above) and uniform B-spline (internal knots are equally spaced). A B-spline with no internal knots is a Bézier curve. A curve is times differentiable at a point where duplicate knot values occur. The knot values determine the extent of the control of the control points. -splines are
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