SLERP

ahrs.common.quaternion.slerp(q0: numpy.ndarray, q1: numpy.ndarray, t_array: numpy.ndarray, threshold: float = 0.9995) → numpy.ndarray

Spherical Linear Interpolation between two quaternions.

Return a valid quaternion rotation at a specified distance along the minor arc of a great circle passing through any two existing quaternion endpoints lying on the unit radius hypersphere.

Based on the method detailed in [Wiki_SLERP]

Parameters:
  • q0 (numpy.ndarray) – First endpoint quaternion.
  • q1 (numpy.ndarray) – Second endpoint quaternion.
  • t_array (numpy.ndarray) – Array of times to interpolate to.
  • threshold (float, default: 0.9995) – Threshold to closeness of interpolation.
Returns:

q – New quaternion representing the interpolated rotation.
Return type:

numpy.ndarray