M-File Help: trinterp | View code for trinterp |
Interpolate homogeneous transformations
T = trinterp(T0, T1, s) is a homogeneous transform interpolation between T0 when s=0 to T1 when s=1. Rotation is interpolated using quaternion spherical linear interpolation. If s (Nx1) then T (4x4xN) is a sequence of homogeneous transforms corresponding to the interpolation values in s.
T = trinterp(T, s) is a transform that varies from the identity matrix when s=0 to T when R=1. If s (Nx1) then T (4x4xN) is a sequence of homogeneous transforms corresponding to the interpolation values in s.
© 1990-2012 Peter Corke.