orocos_kinematics_dynamics icon indicating copy to clipboard operation
orocos_kinematics_dynamics copied to clipboard

Published 20 hours ago • verified publisher icon orocos

rotation interpolation method

Open oPiZiL opened this issue 7 years ago • 1 comments
trafficstars

As I can see, rotational_interpolation_singleaxis is the only mothed for rotation interpolation. When will Slerp be added ?

oPiZiL avatar May 23 '18 13:05 oPiZiL 

     * RotationalInterpolation_SingleAxis() has the advantage that it is independent
     * of the frame in which you express your path.
     * Other implementations for RotationalInterpolations COULD be
     *    (not implemented) (yet) :
     *    1) quaternion interpolation : but this is more difficult for the human to interprete
     *    2) 3-axis interpolation : express the orientation of the frame in e.g.
     *       euler zyx angles alfa,beta, gamma  and interpolate these parameters.
     *       But this is dependent of the frame you choose as a reference and
     *       their can occur representation singularities.

oPiZiL avatar May 23 '18 14:05 oPiZiL