Interpolate rotations expressed by quaternion objects
QI = qscale(Q,S)
QI = qscale(Q,S)
is a unit-quaternion that interpolates between identity for S=0
to Q for S=1. This is a spherical linear interpolation (slerp) that can
be interpretted as interpolation along a great circle arc on a sphere.
If S is a vector QI is a cell array of quaternions, each element corresponding to sequential elements of S.
This is a spherical linear interpolation (slerp) that can be interpretted as interpolation along a great circle arc on a sphere.