Function quaternion_operation::slerp

• Defined in File quaternion_operation.h

Function Documentation

geometry_msgs::msg::Quaternion quaternion_operation::slerp(geometry_msgs::msg::Quaternion quat1, geometry_msgs::msg::Quaternion quat2, double t)

Spherical linear interpolation function for geometry_msgs::msg::Quaternion.

Parameters:

• quat1 –

• quat2 –

• t – parameter for interpolation (if t=0,return==quat1),(if t=1,return==quat2)

Returns:

geometry_msgs::msg::Quaternion result of Spherical linear interpolation opertaion