Algorithm Spline.

Let p(1)1 be a seed point, and ${\widehat{Q}}_k$ and ${\widehat{Q}}_{k+1}$ satisfy (4). h is the step-length.

$p_0^{(1)}=p_1^{(1)}-{\widehat{Q}}_{1}h$

p(1)1 is a seed point

$p_2^{(1)}=p_1^{(i)}+{\widehat{Q}}_{1}h$

$p_3^{(1)}=p_2^{(i)}+{\widehat{Q}}_{2}h$

For i = 2: n

p(i)0 = p(i − 1)1

p(i)1 = end point of S(i − 1)

$p_2^{(i)}=p_1^{(i)}+{\widehat{Q}}_{1}h$

$p_3^{(i)}=p_2^{(i)}+{\widehat{Q}}_{2}h$

Compute S(i), as described in (3).

If θ ≥ 60° or FA ≤ 0.15, then Break

End