code: def _cubic_hermite_interp(self, t0, y0, f0, t1, y1, f1, t):
      h = (t - t0) / (t1 - t0)
      h00 = (1 + 2 * h) * (1 - h) * (1 - h)
      h10 = h * (1 - h) * (1 - h)
      h01 = h * h * (3 - 2 * h)
      h11 = h * h * (h - 1)
      dt = t1 - t0
      return h00 * y0 + h10 * dt * f0 + h01 * y1 + h11 * dt * f1
  
imports: import abc
  import torch
  from .event_handling import find_event
  from .misc import _handle_unused_kwargs
label_desc: Use image node_id 7 for calling the FixedGridODESolver obj's underlying member method code with example usage: obj._cubic_hermite_interp(t0, y0, f0, t1, y1, f1, t) and returns: unknown