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slerp.h File Reference
#include <mrpt/math/CQuaternion.h>
#include <mrpt/poses/poses_frwds.h>
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 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 This base provides a set of functions for maths stuff.


SLERP (Spherical Linear Interpolation) functions
template<typename T >
void mrpt::math::slerp (const CQuaternion< T > &q0, const CQuaternion< T > &q1, const double t, CQuaternion< T > &q)
 SLERP interpolation between two quaternions. More...
void BASE_IMPEXP mrpt::math::slerp (const mrpt::poses::CPose3D &q0, const mrpt::poses::CPose3D &q1, const double t, mrpt::poses::CPose3D &p)
 SLERP interpolation between two 6D poses - like mrpt::math::slerp for quaternions, but interpolates the [X,Y,Z] coordinates as well. More...
void BASE_IMPEXP mrpt::math::slerp (const mrpt::poses::CPose3DQuat &q0, const mrpt::poses::CPose3DQuat &q1, const double t, mrpt::poses::CPose3DQuat &p)
void BASE_IMPEXP mrpt::math::slerp_ypr (const mrpt::math::TPose3D &q0, const mrpt::math::TPose3D &q1, const double t, mrpt::math::TPose3D &p)

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