Spline Interpolation for Motion Profile

I am trying to create a spline interpoation for a motion profile. I have measured points of the spline based off of a provided CAD model. How would I go about getting MATLAB to provide me with an equation for the spline.

The points are shown below if that helps:

0 0

7.288 .379

13.578 3.982

16.114 10.765

16.241 16.241

Answer 1

[John D'Errico]

You can't get an "equation" for a spline. Well, you can, IF you understand splines in some depth, but it is a bit of a piecewise mess no matter what you would do. So it is actually many equations, all in little pieces. There is no simple thing you can easily write down.

However, you can use tools to evaluate the spline at any point. That part is easy. (fnval or ppval) So why do you think you need an equation?

[Ryan Ferrell]

I need an equation to put into a motor controller software. It needs to follow a specific path which is a spline. Multiple equations could work but one would be better if possible