Knot insertion algorithms for piecewise polynomial spaces determined by connection matrices

We show that many fundamental algorithms and techniques for B-spline curves extend to geometrically continuous splines. The algorithms, which are all related to knot insertion, include recursive evaluation, differentiation, and change of basis. While the algorithms for geometrically continuous splines are not as computationally simple as those for B-spline curves, they share the same general structure. The techniques we investigate include knot insertion, dual functionals, and polar forms; these prove to be useful theoretical tools for studying geometrically continuous splines.