A smooth curve is a curve with a non-vanishing, continuous derivative such that each point is traversed only once ( is one-to-one), with the possible exception of a curve such that the endpoints match (). In the case where the endpoints match the curve is called closed, and the function is required to be one-to-one everywhere else and the derivative must be continuous at the identified point (). A smooth curve that is not closed is often referred to as a smooth arc.