docs: public void showTrajectoryAndSpline(){
  		
  		if(t.getDimension()==2){
  		 	double[] xData = new double[rotatedTrajectory.size()];
  		    double[] yData = new double[rotatedTrajectory.size()];
  		    for(int i = 0; i < rotatedTrajectory.size(); i++){
  		    	xData[i] = rotatedTrajectory.get(i).x;
  		    	yData[i] = rotatedTrajectory.get(i).y;		    	
  		    }
  		    // Create Chart
  		    Chart chart = QuickChart.getChart("Spline+Track", "X", "Y", "y(x)", xData, yData);
  		    
  		    //Add spline support points
  		    double[] subxData  = new double[splineSupportPoints.size()];
  		    double[] subyData  = new double[splineSupportPoints.size()];
  		    
  		    for(int i = 0; i < splineSupportPoints.size(); i++){
  		    	subxData[i] = splineSupportPoints.get(i).x;
  		    	subyData[i] = splineSupportPoints.get(i).y;
  		    }
  		    Series s = chart.addSeries("Spline Support Points", subxData, subyData);
  		    s.setLineStyle(SeriesLineStyle.NONE);
  		    s.setSeriesType(SeriesType.Line);
  		    
  		    //ADd spline points
  		    int numberInterpolatedPointsPerSegment = 20;
  		    int numberOfSplines = spline.getN();
  		    double[] sxData = new double[numberInterpolatedPointsPerSegment*numberOfSplines];
  		    
  		    double[] syData = new double[numberInterpolatedPointsPerSegment*numberOfSplines];
  		    double[] knots = spline.getKnots();
  		    for(int i = 0; i < numberOfSplines; i++){
  		    	double x = knots[i];
  		   
  		    	double stopx = knots[i+1];
  		    	double dx = (stopx-x)/numberInterpolatedPointsPerSegment;
  		    	
  		    	for(int j = 0; j < numberInterpolatedPointsPerSegment; j++){
  
  		    		sxData[i*numberInterpolatedPointsPerSegment+j] = x;
  		    		syData[i*numberInterpolatedPointsPerSegment+j] = spline.value(x);
  		    		x += dx;
  		    	}
  		    	
  		    }
  		    s = chart.addSeries("Spline", sxData, syData);
  		    s.setLineStyle(SeriesLineStyle.DASH_DASH);
  		    s.setMarker(SeriesMarker.NONE);
  		    s.setSeriesType(SeriesType.Line);
  		 
  		    
  		    //Show it
  		    new SwingWrapper(chart).displayChart();
  		} 
  	}