/*{{{  spline types*/
typedef struct s_cntl_point {
  int knot_id;   /* checking */
  float pos[3];
  float vel[3];
  float ang[3];
  float rot[3];
  float x_pos_cubic[4];
  float y_pos_cubic[4];
  float z_pos_cubic[4];
  float x_rot_cubic[4];
  float y_rot_cubic[4];
  float z_rot_cubic[4];
  struct s_cntl_point *next;
  struct s_cntl_point *prev;
} cntl_point;

extern float eval ( float *coeffs, float t );
extern cntl_point *walk_spline ( cntl_point *v, float *t, float dt );
extern cntl_point *init_splines ( char *fname );
/*}}}  */