Algebra -- Preamble -- Polynomials -- Complex Numbers -- Quaternions -- Clifford Algebra -- Geometry -- Coordinate Systems -- Differential Geometry -- Algebraic Geometry -- Non—Euclidean Geometry -- Computer Aided Geometric Design -- The Bernstein Basis -- Numerical Stability -- Bézier Curves and Surfaces -- C2 Cubic Spline Curves -- Spline Basis Functions -- Planar Pythagorean-hodograph Curves -- Arc—length Parameterization -- Pythagorean—hodograph Curves -- Tschirnhausen's Cubic -- Complex Representation -- Rational Pythagorean-hodograph Curves -- Spatial Pythagorean-hodograph Curves -- Pythagorean Hodographs in ?3 -- Quaternion Representation -- Helical Polynomial Curves -- Minkowski Pythagorean Hodographs -- Algorithms -- Planar Hermite Interpolants -- Elastic Bending Energy -- Planar C2 PH Quintic Splines -- Spatial Hermite Interpolants -- Applications -- Real—time CNC Interpolators -- Rotation—minimizing Frames -- Closure.