function [Y] = Spline(P0, P1, T)

   t = [0.01:0.01:T];
   Y = [];
   
   for i=1:length(t)
       a = (1 - cos(t(i)/T * pi))/2;
       Y = [Y, (1-a)*P0 + a*P1];
   end
   
end