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));
}