Qlerp {RSpincalc}

Linear quaternion interpolation

Description

Qlerp linear quaternion interpolation. Qslerp spherical linear interpolation. QslerpNoInvert version of slerp, used by squad, that does not check for theta > 90. Qspline spherical cubic interpolation. Qsquad spherical and Quadrangle linear interpolation. Qbezier Shoemake-Bezier interpolation using De Castlejau algorithm. Qspline for 3 quaternions, qn-1,qn and qn+1, calculate a control point to be used in spline interpolation.

Usage

Qlerp(Q1, Q2, fracT)

Arguments

Q1

Quaternion (Q) vector [q1, q2, q3, q4].

Q2

Quaternion (Q) vector [q1, q2, q3, q4].

fracT

Fraction of .

Value

Q

Zero or one-valued quaternion (Q) vector [q1, q2, q3, q4] or matrix n x 4.

Author(s)

Jose Gama

Examples

Q1 <- Qrandom()
Q2 <- Qrandom()
Qlerp(Q1, Q2, 0.1)