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Rational Interpolation of Rigid-Body Motions

  • J. M. Selig
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 407)

Abstract

Let g 1, g 2,...,g n be a sequence of elements of a Lie group, (knot points). Our problem is to find a smooth, parameterised curve in the group that passes through these elements at parameter values t 1, t 2,...,t n . There are many variations on this basic problem. For example we could take account of velocities. Perhaps we might only require the curve to be near the knot points.

Keywords

Hermite Interpolation Rigid Transformation Unit Quaternion Rational Interpolation Dual Quaternion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • J. M. Selig
    • 1
  1. 1.Faculty of Business, Computing and Information ManagementLondon South Bank UniversityU.K.

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