Template Function pinocchio::quaternion::slerp

Function Documentation

template<typename Scalar, typename QuaternionIn1, typename QuaternionIn2, typename QuaternionOut>
inline void pinocchio::quaternion::slerp(const Scalar &u, const Eigen::QuaternionBase<QuaternionIn1> &quat0, const Eigen::QuaternionBase<QuaternionIn2> &quat1, const Eigen::QuaternionBase<QuaternionOut> &res)
Parameters:
  • u[in] Interpolation factor

  • quat[in] Input quaternion

Returns:

the spherical linear interpolation between the two quaternions