pytransform3d.transformations.dual_quaternion_sclerp

pytransform3d.transformations.dual_quaternion_sclerp(start, end, t)[source]

Screw linear interpolation (ScLERP) for dual quaternions.

Although linear interpolation of dual quaternions is possible, this does not result in constant velocities. If you want to generate interpolations with constant velocity, you have to use ScLERP.

Parameters
startarray-like, shape (8,)

Unit dual quaternion to represent start pose: (pw, px, py, pz, qw, qx, qy, qz)

endarray-like, shape (8,)

Unit dual quaternion to represent end pose: (pw, px, py, pz, qw, qx, qy, qz)

tfloat in [0, 1]

Position between start and goal

Returns
aarray, shape (8,)

Interpolated unit dual quaternion: (pw, px, py, pz, qw, qx, qy, qz)

Examples using pytransform3d.transformations.dual_quaternion_sclerp