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Interpolate SE(2) homogeneous transformations
T = trinterp2(T0, T1, s) is a homogeneous transform (3x3) interpolated between T0 when s=0 and T1 when s=1. T0 and T1 are both homogeneous transforms (3x3). If s (Nx1) then T (3x3xN) is a sequence of homogeneous transforms corresponding to the interpolation values in s.
T = trinterp2(T1, s) as above but interpolated between the identity matrix when s=0 to T1 when s=1.
trinterp, SE3.interp, UnitQuaternion
© 1990-2014 Peter Corke.