% This function is part of the NMSM Pipeline, see file for full license.
%
% Constructs B-spline nodes for the given time vector and spline, using the
% BSplineMatrices function.
%
% (Array of double, Array of double, double, double)
% -> (Array of double, Array of double, Array of double)
% Constructs B-spline nodes for a time vector and spline
function [nodes] = BsplineNodes(time,q,degree,numNodes)
% Construct B-spline nodes for specified time vector, spline degree, and
% number of B-spline nodes, assuming the initial curve to be fitted is
% a zero vector of the same length as the time vector.
numPts = length(time);
interval = time(2)-time(1);
[N,~,~] = BSplineMatrices(degree,numNodes,numPts,interval);
% [N] = BSplineMatrix(degree,numNodes,numPts);
% Note that the interval setting is only needed to calculate first and
% second derivatives correctly.
% Calculate B-spline nodes that best fit the original curve using linear
% least squares.
nodes = N\q;
end