Interpolation of Quaternion - LERP
Linear interpolation (with normalization) in quaternion space (LERP)
- - Consider two rotations with corresponding quaternion \(q_1\), \(q_2\).
- - The linearly interpolated quaternion at parameter \(t\in[0,1]\) is
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- \(\displaystyle q(t) = \frac{(1-t)\, q_1 + t\, q_2}{\|(1-t)\, q_1 + t\, q_2\|}\)
- (+) Follows a shortest path (great circle on 4D sphere)
- (+) Can be generalized to more general parametric curves (Splines, etc)
- (-) Angular speed of orientation is not-constant
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- ex. extreme case of two opposite quaternions
