Spline Computation from Control Points

[geoeo]

Hello,

Is it possible to compute a spline for X,Y,Z and SO(3) from some X,Y,Z and rotation measurement at time t explicitly.
I essentially want to create a continuius representation from some data which I want to subsample.

Currently I use Scipy. Can I achieve something similar with Kontiki?
Can kontiki also compute the spline derivatives?

E.g.

 sx = interpolate.InterpolatedUnivariateSpline(time_data, xs, k=3)  # x(u) spline
 sy = interpolate.InterpolatedUnivariateSpline(time_data, ys, k=3)  # y(u) spline
 sz = interpolate.InterpolatedUnivariateSpline(time_data, zs, k=3)  # z(u) spline

 s_rot = RotationSpline(time_data, rotation_data)