Template Function manif::interpolate_slerp

• Defined in File interpolation.h

Function Documentation

template<typename _Derived, typename _Scalar>
static LieGroupBase<_Derived>::LieGroup manif::interpolate_slerp(const LieGroupBase<_Derived> &ma, const LieGroupBase<_Derived> &mb, const _Scalar t)

Slerp interpolation. @detail Interpolate a point mc between ma and mb at t in [0,1]. mc=ma if t=0 mc=mb if t=1.

Parameters:

• ma – [in] Initial point.

• mb – [in] Final Point.

• t – [in] Time at which to interpolate in [0,1].

• -optional- – [in] J_mc_ma Jacobian of the interpolated point wrt ma.

• -optional- – [in] J_mc_mb Jacobian of the interpolated point wrt mb.