View Full Version : quaternions

unknown user
12-15-2003, 03:04 AM

I'm using quaternion to represent rotations and, based on Shoemake's
paper, I'm looking for the mathematical proof that
1. slerp(t,q1,q2)=q1(q1^(-1)q2)^t is the expression of the geodesic
along S3 joining q1 to q2
2. the velocity of a point q(t) is log(q1^(-1)q2)

Thank you

Gwenael Guillard

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