Quaternion Interpolation
Quaternion interpolation.
Description
The Quaternion Interpolation block performs an interpolation between two normalised quaternions.
Interpolation methods:
-
`SLERP' is a spherical linear quaternion interpolation method.
at
-
LERPis a linear interpolation method.
at
-
NLERPis a normalised quaternionic linear interpolation method.
where
The two normalised quaternions are the two extreme values between which the block calculates the quaternion.
Ports
Input
q0 - first normalised quaternion
The first normalised quaternion.
Data types: Float64.
q1 - second normalised quaternion
The second normalised quaternion.
Data types: Float64.
f - interpolation parameter
The parameter takes value from 0 to 1. At the interpolated point corresponds to q0, at - to q1.
Data types: Float64.
Parameters
Interpolation method - interpolation method
SLERP (by default) | LERP | NLERP
Quaternion interpolation method:
-
SLERP- Spherical linear quaternion interpolation method. -
LERP- method of linear quaternion linear quaternion interpolation. -
NLERP- normalised quaternion linear linear interpolation method.