Interpolate_Homogen​eous_Transformation

Interpolate Homogeneous Transformation Matrix

Interpolation Homogeneous Transformation Matrix in SE3 (linear path) and se3 (screw motion).

Core Function:

% T0,T1: Initial, Goal
% s_path: steps, from 0 to 1, percentage of the path
% type: linear or screw motion

T_path = interpSE3(T0,T1,s_path,'linear');
T_path = interpSE3(T0,T1,s_path,'screw');

This function avoid any loop, so it is very fast to deal with large number of points.

Detail see demo_Interpolate_SE3.mlx