pytransform3d.trajectories.dual_quaternions_sclerp

pytransform3d.trajectories.dual_quaternions_sclerp(starts, ends, ts)

Screw linear interpolation (ScLERP) for array of dual quaternions.

Parameters:

startsarray-like, shape (…, 8)

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

endarray-like, shape (…, 8)

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

tsarray-like, shape (…)

Positions between starts and goals

Returns:

dq_tsarray, shape (…, 8)

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

See also

pytransform3d.transformations.dual_quaternion_sclerp

Screw linear interpolation (ScLERP) for dual quaternions.