DeCasteljau {qsplines}R Documentation

Spline using the De Casteljau algorithm

Description

Constructs a quaternions spline using the De Casteljau algorithm.

Usage

DeCasteljau(segments, keyTimes = NULL, times, constantSpeed = FALSE)

Arguments

segments

a list of vectors of unit quaternions; each segment must contain at least two quaternions

keyTimes

the times corresponding to the segment boundaries, an increasing vector of length length(segments)+1; if NULL, it is set to 1, 2, ..., length(segments)+1

times

the interpolating times, they must lie within the range of keyTimes; ignored if constantSpeed=TRUE

constantSpeed

Boolean, whether to re-parameterize the spline to have constant speed; in this case, "times" is ignored and a function is returned, with an attribute "times", the vector of new times corresponding to the key rotors

Value

A vector of quaternions having the same length as times, or a function if constantSpeed=TRUE.

Note

This algorithm is rather for internal purpose. It serves for example as a base for the Konachek-Bartels algorithm.


[Package qsplines version 0.1.0 Index]