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Copy WPILib's CubicHermiteSpline as a differential initial guess #1084

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Copy WPILib's CubicHermiteSpline as a differential initial guess

Copy WPILib's CubicHermiteSpline as a differential initial guess #1084

Run time

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Job Run time
Windows x86_64
1s
Windows aarch64
12s
macOS universal
1s
Linux x86_64
1s
15s