interp

Interpolate between transformations

Since R2023b

Syntax

transformation0 = interp(transformation1,transformation2,points)

rotation0 = interp(rotation1,rotation2,points)

___ = interp(___,transformation2,N)

Description

transformation0 = interp(transformation1,transformation2,points) interpolates at normalized positions points between transformations transformation1 and transformation2.

The function interpolates rotations using a quaternion spherical linear interpolation, and linearly interpolates translations.

rotation0 = interp(rotation1,rotation2,points) interpolates at normalized rotations points between rotations rotation1 and rotation2.

The function interpolates rotations using a quaternion spherical linear interpolation

___ = interp(___,transformation2,N) interpolates N steps between the specified transformations or rotations.

Input Arguments

transformation1 — First transformation

se2 object | se3 object | N-element array of transformation objects

First transformation, specified as a scalar se2 object, a scalar se3 object, or as an N-element array of transformation objects, where N is the total number of transformations. If you specify transformation1 as an array, each element must be of the same type.

Either transformation1 or transformation2 must be a scalar transformation object of the same type. For example, if transformation1 is an array of se2 objects, transformation2 must be a scalar se2 object.

transformation2 — Last transformation

se2 object | se3 object | N-element array of transformation objects

Last transformation, specified as a scalar se2 object, a scalar se3 object, or as an N-element array of transformation objects, where N is the total number of transformations. If you specify transformation2 as an array, each element must be of the same type.

Either transformation1 or transformation2 must be a scalar transformation object of the same type. For example, if transformation1 is an array of se2 objects, transformation2 must be a scalar se2 object.

rotation1 — First rotation

so2 object | so3 object | N-element array of rotation objects

First rotation, specified as a scalar so2 object, a scalar so3 object, or as an N-element array of rotation objects, where N is the total number of rotations. If you specify rotation1 as an array, each element must be of the same type.

Either rotation1 or rotation2 must be a scalar rotation object of the same type. For example, if rotation1 is an array of so2 objects, rotation2 must be a scalar so2 object.

rotation2 — Last rotation

so2 object | so3 object | N-element array of rotation objects

Last rotation, specified as a scalar so2 object, a scalar so3 object, or as an N-element array of rotation objects, where N is the total number of rotations. If you specify rotation2 as an array, each element must be of the same type.

Either rotation1 or rotation2 must be a scalar rotation object of the same type. For example, if rotation1 is an array of se2 objects, rotation2 must be a scalar se2 object.

points — Normalized positions

N-element row vector of values in range [0, 1]

Normalized positions, specified as an N-element row vector of values in the range [0, 1], where N is the total number of interpolated positions. Normalized positions 0 and 1 correspond to the first and last transformations or rotations, respectively.

Example: interp(tf1,tf2,0.5) interpolates a transformation halfway between tf1 and tf2.

Example: interp(r1,r2,0.5) interpolates a rotation halfway between r1 and r2.

N — Number of interpolated positions

positive integer

Number of interpolated positions, specified as a positive integer.

Example: interp(tf1,tf2,5) interpolates five transformations between transformations tf1 and tf2.

Example: interp(r1,r2,7) interpolates seven rotations between rotations r1 and r2.

Output Arguments

transformation0 — Interpolated transformations

N-by-M matrix

Interpolated transformations, returned as an N-by-M matrix of the same transformation type as transformation1 and transformation2, where N is the length of the longer argument between transformation1 and transformation2, and M is the number of interpolated positions. Each row represents an interpolated transformation between transformation1 and transformation2.

rotation0 — Interpolated rotations

N-by-M matrix

Interpolated rotations, returned as an N-by-M matrix of the same rotation type as rotation1 and rotation2, where N is the length of the longer argument between rotation1 and rotation2, and M is the number of interpolated positions. Each row represents an interpolated transformation between rotation1 and rotation2.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2023b