# scipy.spatial.transform.Slerp¶

class scipy.spatial.transform.Slerp(times, rotations)[source]

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: times : array_like, shape (N,) Times of the known rotations. At least 2 times must be specified. rotations : Rotation instance Rotations to perform the interpolation between. Must contain N rotations.

References

 [1] (1, 2) Quaternion Slerp

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.