pytransform3d.transformations.pq_slerp#
- pytransform3d.transformations.pq_slerp(start, end, t)[source]#
Spherical linear interpolation of position and quaternion.
We will use spherical linear interpolation (SLERP) for the quaternion and linear interpolation for the position.
- Parameters:
- startarray-like, shape (7,)
Position and orientation quaternion: (x, y, z, qw, qx, qy, qz)
- endarray-like, shape (7,)
Position and orientation quaternion: (x, y, z, qw, qx, qy, qz)
- tfloat in [0, 1]
Position between start and end
- Returns:
- pq_tarray-like, shape (7,)
Position and orientation quaternion: (x, y, z, qw, qx, qy, qz)
See also
dual_quaternion_sclerpAn alternative approach is screw linear interpolation (ScLERP) with dual quaternions.
pytransform3d.rotations.axis_angle_slerpSLERP for axis-angle representation.
pytransform3d.rotations.quaternion_slerpSLERP for quaternions.
pytransform3d.rotations.rotor_slerpSLERP for rotors.
