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refactor: improve BSplines with simpler parameterization#511

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sathvikbhagavan wants to merge 5 commits into
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sb/bsplines
Draft

refactor: improve BSplines with simpler parameterization#511
sathvikbhagavan wants to merge 5 commits into
masterfrom
sb/bsplines

chore: format

a1e9536
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