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`qi`

`=quatinterp(p,q,f,method)`

calculates the quaternion interpolation between two normalized quaternions p and q by interval fraction f.

Use interpolation to calculate quaternion between two quaternions p=[1.0 0 1.0 0] and q=[-1.0 0 1.0 0] using the SLERP method. This example uses the quatnormalize function to first-normalize the two quaternions to pn and qn.

First normalized quaternion for which to calculate the interpolation, specified as an M-by-4 matrix containing M quaternions. This quaternion must be a normalized quaternion.

Second normalized quaternion for which to calculate the interpolation, specified as an M-by-4 matrix containing M quaternions. This quaternion must be a normalized quaternion.

Interval fraction by which to calculate the quaternion interpolation, specified as an M-by-1 matrix containing M fractions (scalar). f varies between 0 and 1. It represents the intermediate rotation of the quaternion to be calculated.

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