hermite spline should be implemented as a Bezier curve
Original issue : https://gepgitlab.laas.fr/loco3d/multicontactapi/issues/11
Summary of the original discussion, please correct me if I'm wrong:
 Current class
cubic_hermite_spline
have a misleading name as it is actually an array of cubic hermite spline.  Internal maths of the
cubic_hermite_spline
(like the evaluation and the derivative) are similar to thebezier
formulation.
Proposition :

cubic_hermite_spline
should be reworked to inherit frombezier
and factorize as much as possible the code for evaluation/derivative. It should simply add a constructor taking a pair of points and theirs derivative and correctly build a bezier from this.  Current usage of
cubic_hermite_spline
in multicontactAPI package should be replaced bypiecewise<cubic_hermite_spline>
(already implemented).  An helper should be added to build a
piecewise<cubic_hermite_spline>
from a list of points/derivatives and timing (already implemented forpiecewise<polynomial>
so it's easy to add it), as done is multicontactapi.