Catmull Rom basis

See [Keys1981].

(1)\[\begin{split}\phi(t)=\begin{cases} \frac{3}{2}|t|^3 - \frac{5}{2}|t|^2 + 1, \quad |t| \in [0,1[ \\ -\frac{1}{2}|t|^3 + \frac{5}{2}|t|^2 - 4|t| + 2, \quad |t| \in [1,2] \\ 0, \quad \mathrm{elsewhere} \end{cases}\end{split}\]