BarryGoldman            Barry-Goldman quaternions spline
DeCasteljau             Spline using the De Casteljau algorithm
KochanekBartels         Kochanek-Bartels quaternions spline
interpolateTimes        Interpolate a vector of times
quaternionFromTo        Quaternion between two vectors
shinyKBS                Shiny demonstration of Kochanek-Bartels spline
