function [X] = Spline3(x0, x1, dx0, dx1, T)

A = [0,0,0,1 ; T^3, T^2, T, 1 ; 0,0,1,0 ; 3*T^2, 2*T, 1, 0];
B = [x0 ; x1 ; dx0 ; dx1];
ABCD = inv(A) * B;

a = ABCD(1);
b = ABCD(2);
c = ABCD(3);
d = ABCD(4);

t = [0.01:0.01:T];
X = a*(t.^3) + b*(t.^2) + c*t + d;

end