slerp

Fully qualified name: omni::isaac::dynamic_control::math::slerp

inline omni::isaac::dynamic_control::DcTransform omni::isaac::dynamic_control::math::slerp(

const omni::isaac::dynamic_control::DcTransform &a,

const omni::isaac::dynamic_control::DcTransform &b,

const float t,

)

Performs spherical linear interpolation between transforms.

Interpolates position linearly and rotation using slerp. This provides smoother rotation interpolation than regular lerp.

Parameters:

• a – [in] Starting transform

• b – [in] Ending transform

• t – [in] Interpolation parameter [0,1]

Returns:

DcTransform The interpolated transform