Why the Barry-Goldman quaternions spline is always closed?

[stla]

Hello,

I'm currently working on implementing the Barry-Goldman quaternions spline in the R language. I follow your code. I am wondering why you set it closed. Is there a problem if we don't close the spline with this algorithm?

[mgeier]

No, I don't think so.

Handling the end conditions is just a bit more complicated and I didn't need this yet, so I didn't do it (yet?).

I'm preferring the splines.quaternion.CatmullRom (via splines.quaternion.DeCasteljau), because this directly yields the angular velocity. I've implemented splines.quaternion.BarryGoldman just for comparison, and the closed one was sufficient for that.