pyrobosim.utils.trajectory.interpolate_trajectory

pyrobosim.utils.trajectory.interpolate_trajectory(traj: Trajectory, dt: float) → Trajectory | None

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 – Input trajectory.

• dt – Trajectory sample time, in seconds.

Returns:

Interpolated trajectory, or None in case of a failure.