geodesic

(method of quaternion)

Calculats the rotation, which is described by the geodesic gamma(t)_{rot1,rot2} from rot1 to rot2 at the location t, for vectors of n rotations.

Syntax

rot = geodesic(rot1,rot2,t)

Input

rot1

n dimensional vector of rotations

rot2

n dimensional vector of rotations

t

n dimensional vector in [0,1]^n

Output

rot

n dimensional vector of rotations