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From: Fergal Shevlin <fshevlin@maths.tcd.ie>
Subject: Re: [Q] Interpolation of Orientation: which method is "best"?
Message-ID: <MBOYER.95Jun9184515@amadeus.ireq-robot.hydro.qc.ca>
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Organization: La division Robotique de l'Institut de recherche d'Hydro-Quebec
Date: Fri, 9 Jun 1995 22:45:15 GMT
Approved: mboyer@ireq-robot.hydro.qc.ca, crr@ireq-robot.hydro.qc.ca

Roger Barry Hertz <rbh@sdr.utias.utoronto.ca> writes:

>3. Interpolate using quaternions (Euler parameters).

>Any other suggestions, comments, references?

I think the best reference for this is Ken Shoemake, "Animating Rotations with Quaternion Curves"
ACM SIGGRAPH 1985. Also Barr et al. "Smooth Interpolation of Orientations with Angular 
Velocity Constraints using Quaternions", ACM SIGGRAPH 1992. There are several articles
in the Academic Press Graphics Gems series also. There seems to be a lot of people 
saying that this method is "best" for your purposes. The intermediate orientations between
start and destination orientation can be fully specified through splines on the surface
of the unit quaternion S^3 sphere in 4-space.


Fergal.

-- 
====================================================================
Fergal Shevlin                      E-mail: Fergal.Shevlin@cs.tcd.ie
Dept. of Computer Science                      Phone: +353-1-7021209
Trinity College, Dublin 2, Ireland.              Fax: +353-1-6772204

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