Spline interpolation for derivation
added second derivation method through Splines, callable directly through 'motion.calculateVelocities(1)' and 'calculateAcclerations(1)' (before only method '0' for differential quotient)
added second derivation method through Splines, callable directly through 'motion.calculateVelocities(1)' and 'calculateAcclerations(1)' (before only method '0' for differential quotient)