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Qspline |
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Qspline is a C language subroutine which interpolates between quaternion values given at specified times, while maintaining quaternion normalization, such that the associated interpolated angular rate and acceleration vectors are continuous functions of time. The interpolation employs a third-order polynomial expansion of the rotation vector. Non-linear boundary conditions on the angular acceleration are solved using a rapidly convergent iteration procedure. The result is functionally equivalent to the usual cubic spline interpolation for scalar functions. |
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