pwqh(t,x,v,a)

piece-wise quintic-Hermite spline generation

% [ppx,ppv,ppa,ppj,pps] = pwqh(t,x,v,a)
%
% Computes a piecewise quintic spline. Similar syntax to Matlab's function
% pwch() for cubic splines. The user provides the position, velocity, and
% acceleration for a sequence
%
% INPUTS:
% t = [1, nTime] = time vector
% x = [nDim, nTime] = position
% v = [nDim, nTime] = velocity
% a = [nDim, nTime] = acceleration
%
% OUTPUTS:
% ppx = quintic spline for x(t)
% ppv = quartic spline for v(t) (derivative of x(t))
% ppv = cubic spline for a(t) (derivative of v(t))
%