pytransform3d.rotations.axis_angle_slerp

pytransform3d.rotations.axis_angle_slerp(start, end, t)[source]

Spherical linear interpolation.

Parameters
startarray-like, shape (4,)

Start axis of rotation and rotation angle: (x, y, z, angle)

endarray-like, shape (4,)

Goal axis of rotation and rotation angle: (x, y, z, angle)

tfloat in [0, 1]

Position between start and goal

Returns
aarray, shape (4,)

Interpolated axis of rotation and rotation angle: (x, y, z, angle)

Examples using pytransform3d.rotations.axis_angle_slerp