pytransform3d.rotations.rotor_slerp

pytransform3d.rotations.rotor_slerp(start, end, t, shortest_path=False)

Spherical linear interpolation.

Parameters:

startarray-like, shape (4,)

Rotor: (a, b_yz, b_zx, b_xy)

endarray-like, shape (4,)

Rotor: (a, b_yz, b_zx, b_xy)

tfloat in [0, 1]

Position between start and end

shortest_pathbool, optional (default: False)

Resolve sign ambiguity before interpolation to find the shortest path. The end rotor will be picked to be close to the start rotor.

Returns:

rotorarray, shape (4,)

Interpolated rotor: (a, b_yz, b_zx, b_xy)

See also

axis_angle_slerp

SLERP for axis-angle representation.

quaternion_slerp

SLERP for quaternions.

pytransform3d.transformations.pq_slerp

SLERP for position + quaternion.