slerp.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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#pragma once

#include <Eigen/Dense>

namespace utils
{

inline Eigen::Matrix3d slerp(const Eigen::Matrix3d & from, const Eigen::Matrix3d & to, double t)
{
  Eigen::Quaterniond qFrom(from);
  Eigen::Quaterniond qTo(to);
  return qFrom.slerp(t, qTo).toRotationMatrix();
}

} // namespace utils

using utils::slerp;