pytransform3d.transformations.pq_slerp

pytransform3d.transformations.pq_slerp(start, end, t)

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_sclerp

An alternative approach is screw linear interpolation (ScLERP) with dual quaternions.

pytransform3d.rotations.axis_angle_slerp

SLERP for axis-angle representation.

pytransform3d.rotations.quaternion_slerp

SLERP for quaternions.

pytransform3d.rotations.rotor_slerp

SLERP for rotors.

Examples using pytransform3d.transformations.pq_slerp

Dual Quaternion Interpolation

Dual Quaternion Interpolation