pytransform3d.batch_rotations.smooth_quaternion_trajectory

pytransform3d.batch_rotations.smooth_quaternion_trajectory(Q, start_component_positive='x')

Smooth quaternion trajectory.

Quaternion q and -q represent the same rotation but cannot be interpolated well. This function guarantees that two successive quaternions q1 and q2 are closer than q1 and -q2.

Parameters:

Qarray-like, shape (n_steps, 4)

Unit quaternions to represent rotations: (w, x, y, z)

start_component_positivestr, optional (default: ‘x’)

Start trajectory with quaternion that has this component positive. Allowed values: ‘w’ (scalar), ‘x’, ‘y’, and ‘z’.

Returns:

Qarray, shape (n_steps, 4)

Unit quaternions to represent rotations: (w, x, y, z)

Raises:

ValueError

If Q has length 0.