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Quaternion Splines

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  • Quaternion Splines


    Recently, I posted a question about interpolating with B-Splines. I
    am trying to interpolate complete motions and have adapted a quaternion
    interpolation method to account for the rotations while translations are
    interpolated using hermite curves. Each of my algorithms work correctly on
    their own. Combining both translations and rotations into one
    transformation results in numbers (visualized as animations) that seem to
    follow an unlikely path.
    Ideally we are looking for the path of lowest curvature (lowest
    energy) through all points. It seems that I am not combining the rotation
    and translation interpolations correctly. One possibility is that because
    the combination brings each position relatively close to the previous
    (applied rotations and translations individually makes the object move
    approximately 5 times as far when they are applied together) errors that
    could not be seen are now in such close proximity that they are visible.

    Does anyone have experience interpolating complete transforms,
    especially using quaternion math?

    Thank you for any help


    Brown University Orthopedic Research
    Dept of Engineering Rhode Island Hospital
    Providence, RI Providence, RI

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