Scilab Function
Last update : April 2007

rt_trinterp - interpolate homogeneous transforms[view code]

Calling Sequence

T = rt_trinterp(T0, T1, r)



This function interpolates between the two homogeneous transforms T0 and T1 as r varies between 0 and 1 inclusively. This is generally used for computing straight line or 'Cartesian' motion. Rotational interpolation is achieved using quaternion spherical linear interpolation (slerp).


   // Consider the following example of interpolation of homogeneous
   // transforms
   T1 = rt_rotx(0.2),
   T2 = rt_transl(1, 4, 5) * rt_roty(0.3),

   // r = 0
   Ta = rt_trinterp(T1, T2, 0),         // should be T1

   // r = 1
   Tb = rt_trinterp(T1, T2, 1),         // should be T2

   // r = 0.5
   Tc = rt_trinterp(T1, T2, 0.5),       // 'half way' in between


See Also

rt_ctraj,  rt_qinterp,  


original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa


Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

R. P. Paul, Robot Manipulators: Mathematics, Programming and Control. Cambridge, Massachusetts: MIT Press, 1981.

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