API referenceC++ APIFunctions

holoscan::slerp_interpolate

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template <typename K>
Pose2<K> holoscan::slerp_interpolate(
    K p,
    const Pose2<K> &a,
    const Pose2<K> &b
)

Spherical linear interpolation between two 2D poses.

This uses the formula a^(1-p) * b^p where a and b are matrix transformations. This can be simplified into a * (a^-1 * b)^p

Returns: Interpolated pose using matrix exponentiation.

Template parameters

K
typename

Scalar type.

Parameters

p
K

Interpolation parameter (0.0 returns a, 1.0 returns b).

a
const Pose2<K> &

First pose.

b
const Pose2<K> &

Second pose.