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We can express the curve as
:<math> \vec{s}(x) = \sum_{i=0}^{p-1} \vec{d}_i N_i^n(x) , </math>
where <math>N_i^r(x)=\frac{x-u_i}{u_{i+n}-u_i}N_i^{r-1}(x) and <math>N_i^0(x)=\left\{\begin{matrix} 1, & \mbox{if }x \in [u_{\ell},u_{\ell+1}) \\ 0, & \mbox{otherwise } \end{matrix}\right.</math> Due to the spline locality property,
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