title: 3D - spline for trajectory generation in Matlab/Octave
body: <p>I am currently trying to create a 3D trajectory for a robot end-effector in Octave.
  The end-effector is supposed to visit a set of 3D points <code>X = [x_1 ,..., x_n]</code>, where <code>x_i = [xcoord_i; ycoord_i; zcoord_i]</code>. Simple linear interpolation would lead to non-smooth robot movements. Hence I want to generate a <em>3D-spline</em> curve that generates N 3D points between my reference points. There exists an Matlab implementation for this kind of task (<a href="http://de.mathworks.com/help/curvefit/examples/constructing-spline-curves-in-2d-and-3d.html#zmw57dd0e3517" rel="nofollow">documentation</a>). Can you give me a hint on how to approach this kind of problem in <strong><em>Octave</em></strong>?</p>