pytransform3d.rotations.axis_angle_slerp

pytransform3d.rotations.axis_angle_slerp(start, end, t)

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 end

Returns:

aarray, shape (4,)

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

See also

matrix_slerp

SLERP for rotation matrices.

quaternion_slerp

SLERP for quaternions.

rotor_slerp

SLERP for rotors.

pytransform3d.transformations.pq_slerp

SLERP for position + quaternion.