Quaternion interpolation on the unit sphere using Slerp method
q = CL_rot_quatSlerp(q1, q2, p)
Interpolation between two quaternions using Slerp method (shortest path).
The interpolation is such that:
- If p = 0: q = q1
- If p = 1: q = q2
Notes:
- If q1 or q2 is null, q is equal to %nan.
- An empty quaternion is returned if q1, q2 or p is empty.
- p can have any value, not only in [0, 1].
- See Data types for more details on quaternions.
Quaternion (size N or 1)
Quaternion (size N or 1)
Interpolation parameter (1xN or 1x1). Can be < 0 or > 1.
Interpolated quaternion (size N)
CNES - DCT/SB