cubicSplineFitting ?

[YangSiri]

Thanks for this very useful lib though its hard for me to understand.

Recently i have some questions while using it to intepolate my SE3 pose trajectory:
a) Is cubicHermit better than cubicSpline fitting ? How to implement cubicSplineSE3curve ?
b)While using cubicHermitSE3curvefitting, why new eular angles become randoms when yaw is about 90 or -90 degree ?

Waiting for great answers !