CL_rot_interpQuat

Description

• Given reference quaternions q_ref at reference times t_ref, the function computes interpolated quaternions at times t.

  Only one method of interpolation is avalaible at the moment: Slerp method (shortest path).

  Notes:

  - t_ref must be sorted in strictly increasing order.

  - Output quaternions corresponding to values of t outside of [t_ref(1),t_ref($)] are set to %nan.

• See Data types for more details on quaternions.

Parameters

t_ref:

Reference times (1xN with N>=2)

q_ref:

Reference quaternions at times t_ref (size N with N>=2)

t:

Requested times (1xP).

method:

(string, optional) Name of the method. Only "slerp" is available. Default is "slerp". (1x1)

q :

Interpolated quaternions at times t. (size P)

Authors

• CNES - DCT/SB

See also

• CL_rot_defQuat

• CL_rot_quatSlerp

• CL_rot_matrix2quat

Examples

t_ref = [1:10]; q_ref = CL_rot_angles2quat([3,1,3],[t_ref;t_ref.^2;cos(t_ref)]); t = [1.5:8.5]; q = CL_rot_interpQuat(t_ref,q_ref,t)