HALCON Reference Manual 10.0.2
Table of Contents / Transformations / Quaternions ClassesClassesClasses | | | Operators

quat_interpolateT_quat_interpolatequat_interpolateQuatInterpolateQuatInterpolate (Operator)

Name

quat_interpolateT_quat_interpolatequat_interpolateQuatInterpolateQuatInterpolate — Interpolation of two quaternions.

Signature

quat_interpolate( : : QuaternionStart, QuaternionEnd, InterpPos : QuaternionInterpolated)

Herror T_quat_interpolate(const Htuple QuaternionStart, const Htuple QuaternionEnd, const Htuple InterpPos, Htuple* QuaternionInterpolated)

Herror quat_interpolate(const HTuple& QuaternionStart, const HTuple& QuaternionEnd, const HTuple& InterpPos, HTuple* QuaternionInterpolated)

void HOperatorSetX.QuatInterpolate(
[in] VARIANT QuaternionStart, [in] VARIANT QuaternionEnd, [in] VARIANT InterpPos, [out] VARIANT* QuaternionInterpolated)

IHQuaternionX* HQuaternionX.QuatInterpolate(
[in] IHQuaternionX* QuaternionEnd, [in] VARIANT InterpPos)

static void HOperatorSet.QuatInterpolate(HTuple quaternionStart, HTuple quaternionEnd, HTuple interpPos, out HTuple quaternionInterpolated)

HQuaternion HQuaternion.QuatInterpolate(HQuaternion quaternionEnd, HTuple interpPos)

Description

The operator quat_interpolatequat_interpolatequat_interpolateQuatInterpolateQuatInterpolate interpolates the two quaternions QuaternionStartQuaternionStartQuaternionStartQuaternionStartquaternionStart and QuaternionEndQuaternionEndQuaternionEndQuaternionEndquaternionEnd at the interpolation position InterpPosInterpPosInterpPosInterpPosinterpPos. This position must lie within the interval [0,1]. In the case of InterpPosInterpPosInterpPosInterpPosinterpPos=0, the interpolated quaternion QuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedquaternionInterpolated corresponds to QuaternionStartQuaternionStartQuaternionStartQuaternionStartquaternionStart. In the case of InterpPosInterpPosInterpPosInterpPosinterpPos=1, the interpolated quaternion QuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedquaternionInterpolated corresponds to QuaternionEndQuaternionEndQuaternionEndQuaternionEndquaternionEnd.

The interpolation is done using spherical linear interpolation. As a consequence if both QuaternionStartQuaternionStartQuaternionStartQuaternionStartquaternionStart and QuaternionEndQuaternionEndQuaternionEndQuaternionEndquaternionEnd are rotation quaternions, QuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedquaternionInterpolated will be a rotation quaternion as well. Further, if InterpPosInterpPosInterpPosInterpPosinterpPos is increased at constant speed, a point on the unit sphere that is rotated using QuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedquaternionInterpolated travels with constant speed on an arc on the unit sphere.

Parallelization

Parameters

QuaternionStartQuaternionStartQuaternionStartQuaternionStartquaternionStart (input_control)  quaternion-array → HQuaternion, HTupleHTupleHQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double)

Start quaternion.

QuaternionEndQuaternionEndQuaternionEndQuaternionEndquaternionEnd (input_control)  quaternion-array → HQuaternion, HTupleHTupleHQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double)

End quaternion.

InterpPosInterpPosInterpPosInterpPosinterpPos (input_control)  real-array → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)

Interpolation parameter.

Default value: 0.5

List of values: 0.0, 0.25, 0.5, 0.75, 1.0

QuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedQuaternionInterpolatedquaternionInterpolated (output_control)  quaternion-array → HQuaternion, HTupleHTupleHQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double)

Interpolated quaternion.

Possible Predecessors

axis_angle_to_quataxis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuat, quat_normalizequat_normalizequat_normalizeQuatNormalizeQuatNormalize

Possible Successors

quat_to_hom_mat3dquat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3d, quat_rotate_point_3dquat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d, quat_to_posequat_to_posequat_to_poseQuatToPoseQuatToPose

See also

quat_rotate_point_3dquat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d, quat_conjugatequat_conjugatequat_conjugateQuatConjugateQuatConjugate, quat_composequat_composequat_composeQuatComposeQuatCompose

Module

Foundation

Table of Contents / Transformations / Quaternions ClassesClassesClasses | | | Operators
HALCON Reference Manual 10.0.2 Copyright © 1996-2011 MVTec Software GmbH