Function tf2::slerp

• Defined in File Quaternion.hpp

Function Documentation

Quaternion tf2::slerp(const Quaternion &q1, const Quaternion &q2, const tf2Scalar &t)

Return the result of spherical linear interpolation betwen two quaternions.

Parameters:

• q1 – The first quaternion

• q2 – The second quaternion

• t – The ration between q1 and q2. t = 0 return q1, t=1 returns q2 Slerp assumes constant velocity between positions.