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Quaternion Slerp(const Quaternion & q0, const Quaternion & q1,
const Real t);
Slerp stands for Spherical Linear Interpolation. Slerp is not a
member function of the class Quaternion. The quaternions
and
needs to be unit quaternions. It returns a unit quaternion. As
the parameter
uniformly varies between 0 and 1, the values
are required to uniformly vary along the circular arc from
to
.
It is customary to choose the sign
on
so that
(the angle between
and
is acute). This
choice avoids extra spinning caused by the interpolated rotations
[2]. For unit quaternions Slerp is defined as
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(2.25) |
Quaternion
Richard Gourdeau
2004-07-06