Slerp#
- class scipy.spatial.transform.Slerp(times, rotations)#
- Spherical Linear Interpolation of Rotations. - The interpolation between consecutive rotations is performed as a rotation around a fixed axis with a constant angular velocity [1]. This ensures that the interpolated rotations follow the shortest path between initial and final orientations. - Parameters:
- timesarray_like, shape (N,)
- Times of the known rotations. At least 2 times must be specified. 
- rotationsRotationinstance
- Rotations to perform the interpolation between. Must contain N rotations. 
 
 - See also - Notes - Added in version 1.2.0. - References - Examples - >>> from scipy.spatial.transform import Rotation as R >>> from scipy.spatial.transform import Slerp - Setup the fixed keyframe rotations and times: - >>> key_rots = R.random(5, random_state=2342345) >>> key_times = [0, 1, 2, 3, 4] - Create the interpolator object: - >>> slerp = Slerp(key_times, key_rots) - Interpolate the rotations at the given times: - >>> times = [0, 0.5, 0.25, 1, 1.5, 2, 2.75, 3, 3.25, 3.60, 4] >>> interp_rots = slerp(times) - The keyframe rotations expressed as Euler angles: - >>> key_rots.as_euler('xyz', degrees=True) array([[ 14.31443779, -27.50095894, -3.7275787 ], [ -1.79924227, -24.69421529, 164.57701743], [146.15020772, 43.22849451, -31.34891088], [ 46.39959442, 11.62126073, -45.99719267], [-88.94647804, -49.64400082, -65.80546984]]) - The interpolated rotations expressed as Euler angles. These agree with the keyframe rotations at both endpoints of the range of keyframe times. - >>> interp_rots.as_euler('xyz', degrees=True) array([[ 14.31443779, -27.50095894, -3.7275787 ], [ 4.74588574, -32.44683966, 81.25139984], [ 10.71094749, -31.56690154, 38.06896408], [ -1.79924227, -24.69421529, 164.57701743], [ 11.72796022, 51.64207311, -171.7374683 ], [ 146.15020772, 43.22849451, -31.34891088], [ 68.10921869, 20.67625074, -48.74886034], [ 46.39959442, 11.62126073, -45.99719267], [ 12.35552615, 4.21525086, -64.89288124], [ -30.08117143, -19.90769513, -78.98121326], [ -88.94647804, -49.64400082, -65.80546984]]) - Methods - __call__(times)- Interpolate rotations.