Template Function holoscan::slerp_interpolate(K, const Pose3&, const Pose3&)
Defined in File interpolation.hpp
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template<typename K>
Pose3<K> holoscan::slerp_interpolate(K p, const Pose3<K> &a, const Pose3<K> &b) Spherical linear interpolation between two 3D 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
- Template Parameters
K – Scalar type.
- Parameters
p – Interpolation parameter (0.0 returns a, 1.0 returns b).
a – First pose.
b – Second pose.
- Returns
Interpolated pose using matrix exponentiation.