pytransform3d.rotations.quaternion_slerp

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

Spherical linear interpolation.

Parameters
startarray-like, shape (4,)

Start unit quaternion to represent rotation: (w, x, y, z)

endarray-like, shape (4,)

End unit quaternion to represent rotation: (w, x, y, z)

tfloat in [0, 1]

Position between start and goal

Returns
qarray, shape (4,)

Interpolated unit quaternion to represent rotation: (w, x, y, z)

Examples using pytransform3d.rotations.quaternion_slerp