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Quaternion: Difference between revisions
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\operatorname{slerp}(q_0, q_1, s) \equiv q(s)[q_0, q_1] = q_0 \frac{\sin((1-s)\phi)}{\sin \phi} + q_1 \frac{\sin(s\phi)}{\sin \phi} | \operatorname{slerp}(q_0, q_1, s) \equiv q(s)[q_0, q_1] = q_0 \frac{\sin((1-s)\phi)}{\sin \phi} + q_1 \frac{\sin(s\phi)}{\sin \phi} | ||
</math> | </math> | ||
Here <math>\phi</math> is the angle between the two quaternions: <math>\cos(\phi) = q_0 \cdot q_1</math>. | Here <math>\phi</math> is the angle between the two unit quaternions: <math>\cos(\phi) = q_0 \cdot q_1</math>. | ||
==Spatial Alignment Problem== | ==Spatial Alignment Problem== | ||