www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\trinterp.m
%TRINTERP Interpolate homogeneous transformations % % TR = TRINTERP(T0, T1, R) % % Returns a homogeneous transform interpolation between T0 and T1 as % R varies from 0 to 1. Rotation is interpolated using quaternion % spherical linear interpolation. % % See also: CTRAJ, QUATERNION % Copyright (C) 1993-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. function t = trinterp(T0, T1, r) q0 = quaternion(T0); q1 = quaternion(T1); p0 = transl(T0); p1 = transl(T1); qr = qinterp(q0, q1, r); pr = p0*(1-r) + r*p1; t = [qr.r pr; 0 0 0 1];