Engee documentation

Quaternion Interpolation

Quaternion interpolation.

blockType: SubSystem

quaternion interpolation

Path in the library:

/Aerospace/Math Operations/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

  • LERP is a linear interpolation method.

at

  • NLERP is 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.

Output

qf - interpolated point

Interpolation result.

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.