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== Outline of the algorithm==
Suppose we want to evaluate the spline curve for a parameter value <math> x \in [u_{\ell},u_{\ell+1}] </math>.
We can express the curve as
:<math> \mathbf{s}(x) = \sum_{i=0}^{p-1} \mathbf{d}_i N_i^n(x) , </math>
where<ref>http://www.cs.mtu.edu/~shene/COURSES/cs3621/NOTES/spline/B-spline/bspline-basis.html</ref>
<math>N_i^n(x)=\frac{x-u_i}{u_{i+n}-u_i}N_i^{n-1}(x) - \frac{u_{i+n+1}-x}{u_{i+n+1}-u_{i+1}}N_{i+1}^{n-1}(x) ,</math>
and
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