Qlerp: Linear quaternion interpolation

In RSpincalc: Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors

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)

Example output

       [,1]       [,2]       [,3]       [,4]
[1,] 0.1551 -0.6487559 0.08013691 -0.7407009

RSpincalc documentation built on May 2, 2019, 10:59 a.m.