Revision 2ce396a76821d352b608cbcadbb6c57de59620c3 authored by Alec Jacobson on 08 January 2020, 05:26:22 UTC, committed by Alec Jacobson on 08 January 2020, 05:26:22 UTC
1 parent 9d0a7c0
quatslerp.m
function Qt = quatslerp(Q0,Q1,t)
% QUATSLERP Slerp between two quaterions
%
% Qt = quatslerp(Q0,Q1,t)
%
% Inputs:
% Q0 #Q by 4 list of quaternions [w x y z] at t=0
% Q1 #Q by 4 list of quaternions at t=1
% t #Q|1 list of times
% Outputs:
% Qt #Q by 4 list of quaternions at times t
%
if numel(t) == 1
t = repmat(t,size(Q0,1),1);
end
% slerp pose
d = sum(Q0.*Q1,2);
absD = abs(d);
theta = acos(absD);
sinTheta = sin(theta);
% https://github.com/alecjacobson/gptoolbox/issues/74
s0 = sin( (1-t) .* theta)./sinTheta;
s1 = sin( t .* theta)./sinTheta;
s0(absD>=1) = 1-t(absD>=1);
s1(absD>=1) = t(absD>=1);
s1(d<0) = -s1(d<0);
Qt = bsxfun(@times,s0,Q0) + bsxfun(@times,s1,Q1);
Qt = normalizerow(Qt);
end
Computing file changes ...
