CL_rot_quatSlerp

Description

• Interpolation between two quaternions using Slerp method (shortest path).

  The interpolation is such that:

  - If p = 0: q = q1

  - If p = 1: q = q2

• Notes:

  - If q1 or q2 is null, q is equal to %nan.

  - An empty quaternion is returned if q1, q2 or p is empty.

  - See Data types for more details on quaternions.

Parameters

q1 :

Quaternion (size N or 1)

q2 :

Quaternion (size N or 1)

p :

Interpolation parameter (1xN or 1x1). Can be < 0 or > 1.

q :

Interpolated quaternion (size N)

Authors

• CNES - DCT/SB

See also

• CL_rot_defQuat

• CL_rot_matrix2quat

Examples

q1 = CL_rot_axAng2quat([0;0;1],0.5); q2 = CL_rot_axAng2quat([1;1;1], 1); q = CL_rot_quatSlerp(q1,q2,0) // q = q1 q = CL_rot_quatSlerp(q1,q2,1) // q = q2 q = CL_rot_quatSlerp(q1,q2,(0:5)/5) q = CL_rot_quatSlerp([q1,q1,q1],q2,[0.1, 0.2, 0.3])