pytransform3d.batch_rotations.quaternion_slerp_batch#
- pytransform3d.batch_rotations.quaternion_slerp_batch(start, end, t, shortest_path=False)[source]#
Spherical linear interpolation for a batch of steps.
- 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)
- tarray-like, shape (n_steps,)
Steps between start and goal, must be in interval [0, 1]
- shortest_pathbool, optional (default: False)
Resolve sign ambiguity before interpolation to find the shortest path. The end quaternion will be picked to be close to the start quaternion.
- Returns:
- Qarray, shape (n_steps, 4)
Interpolated unit quaternions
