pyrobosim.utils.trajectory.interpolate_trajectory
- pyrobosim.utils.trajectory.interpolate_trajectory(traj: Trajectory, dt: float)
Interpolates a trajectory given a time step dt. Positions are interpolated linearly and the angle is interpolated using the Spherical Linear Interpolation (Slerp) method.
- Parameters:
traj (
pyrobosim.utils.trajectory.Trajectory) – Input trajectory.dt (float) – Trajectory sample time, in seconds.
- Returns:
Interpolated trajectory
- Return type: