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# trinterp

Interpolate homogeneous transformations

T = trinterp(T0, T1, s) is a homogeneous transform (4x4) interpolated between T0 when s=0 and T1 when s=1. T0 and T1 are both homogeneous transforms (4x4). Rotation is interpolated using quaternion spherical linear interpolation (slerp). If s (Nx1) then T (4x4xN) is a sequence of homogeneous transforms corresponding to the interpolation values in s.

T = trinterp(T1, s) as above but interpolated between the identity matrix when s=0 to T1 when s=1.

## See also

ctraj, quaternion

© 1990-2014 Peter Corke.