public OrthonormalFrame BishopAtPoint(float t) { int segNum; float scaledT; ScaleArcParameter(out segNum, out scaledT, t); if (segNum == discretizedPoints.Count - 1) { return(discretizedPoints[segNum].bishopFrame); } return(OrthonormalFrame.Slerp(discretizedPoints[segNum].bishopFrame, discretizedPoints[segNum + 1].bishopFrame, scaledT)); }