Hole spin qubits in semiconductor quantum dots (QDs) are promising candidates for quantum information processing due to their weak hyperfine coupling to nuclear spins and rapid operation time due to the strong spin-orbit coupling. We study the coherent control on two heavy-hole spin qubits in a double quantum dot, and construct one-qubit and two-qubit gates by an all-electrical protocol. Using fast quasiadiabatic driving via spin-orbit coupling, we can reduce significantly charge noise for qubit manipulation and quantum state transfer, as compared to other protocols, and achieve high robustness for the qubit initialization. In particular, the schemes for the one-qubit NOT gate and the two-qubit CNOT, SWAP-like gates of hole spins in a double QD achieve fidelities above 99%, exhibiting the capability of hole spins to encode qubits for quantum computing.