11 EIGEN_DONT_INLINE Q nlerp(const Q& a, const Q& b, typename Q::Scalar t)  in nlerp()
17 EIGEN_DONT_INLINE Q slerp_eigen(const Q& a, const Q& b, typename Q::Scalar t)  in slerp_eigen()
23 EIGEN_DONT_INLINE Q slerp_legacy(const Q& a, const Q& b, typename Q::Scalar t)  in slerp_legacy()
25   typedef typename Q::Scalar Scalar;  in slerp_legacy()  typedef
26   static const Scalar one = Scalar(1) - dummy_precision<Scalar>();  in slerp_legacy()
27   Scalar d = a.dot(b);  in slerp_legacy()
28   Scalar absD = internal::abs(d);  in slerp_legacy()
33   Scalar theta = std::acos(absD);  in slerp_legacy()
34   Scalar sinTheta = internal::sin(theta);  in slerp_legacy()
36   Scalar scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;  in slerp_legacy()
37   Scalar scale1 = internal::sin( ( t * theta) ) / sinTheta;  in slerp_legacy()
45 EIGEN_DONT_INLINE Q slerp_legacy_nlerp(const Q& a, const Q& b, typename Q::Scalar t)  in slerp_legacy_nlerp()
47   typedef typename Q::Scalar Scalar;  in slerp_legacy_nlerp()  typedef
48   static const Scalar one = Scalar(1) - epsilon<Scalar>();  in slerp_legacy_nlerp()
49   Scalar d = a.dot(b);  in slerp_legacy_nlerp()
50   Scalar absD = internal::abs(d);  in slerp_legacy_nlerp()
52   Scalar scale0;  in slerp_legacy_nlerp()
53   Scalar scale1;  in slerp_legacy_nlerp()
57     scale0 = Scalar(1) - t;  in slerp_legacy_nlerp()
63     Scalar theta = std::acos(absD);  in slerp_legacy_nlerp()
64     Scalar sinTheta = internal::sin(theta);  in slerp_legacy_nlerp()
66     scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;  in slerp_legacy_nlerp()
85 EIGEN_DONT_INLINE Q slerp_rw(const Q& a, const Q& b, typename Q::Scalar t)  in slerp_rw()
87   typedef typename Q::Scalar Scalar;  in slerp_rw()  typedef
89   Scalar d = a.dot(b);  in slerp_rw()
90   Scalar theta;  in slerp_rw()
92     theta = /*M_PI -*/ Scalar(2)*std::asin( (a.coeffs()+b.coeffs()).norm()/2 );  in slerp_rw()
94     theta = Scalar(2)*std::asin( (a.coeffs()-b.coeffs()).norm()/2 );  in slerp_rw()
97 //   Scalar theta = std::acos(absD);  in slerp_rw()
98   Scalar sinOverTheta = sin_over_x(theta);  in slerp_rw()
100   Scalar scale0 = (Scalar(1)-t)*sin_over_x( ( Scalar(1) - t ) * theta) / sinOverTheta;  in slerp_rw()
101   Scalar scale1 = t * sin_over_x( ( t * theta) ) / sinOverTheta;  in slerp_rw()
105   return Quaternion<Scalar>(scale0 * a.coeffs() + scale1 * b.coeffs());  in slerp_rw()
109 EIGEN_DONT_INLINE Q slerp_gael(const Q& a, const Q& b, typename Q::Scalar t)  in slerp_gael()
111   typedef typename Q::Scalar Scalar;  in slerp_gael()  typedef
113   Scalar d = a.dot(b);  in slerp_gael()
114   Scalar theta;  in slerp_gael()
115 //   theta = Scalar(2) * atan2((a.coeffs()-b.coeffs()).norm(),(a.coeffs()+b.coeffs()).norm());  in slerp_gael()
120     theta = /*M_PI -*/ Scalar(2)*std::asin( (-a.coeffs()-b.coeffs()).norm()/2 );  in slerp_gael()
122     theta = Scalar(2)*std::asin( (a.coeffs()-b.coeffs()).norm()/2 );  in slerp_gael()
125   Scalar scale0;  in slerp_gael()
126   Scalar scale1;  in slerp_gael()
127   if(theta*theta-Scalar(6)==-Scalar(6))  in slerp_gael()
129     scale0 = Scalar(1) - t;  in slerp_gael()
134     Scalar sinTheta = std::sin(theta);  in slerp_gael()
135     scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;  in slerp_gael()
141   return Quaternion<Scalar>(scale0 * a.coeffs() + scale1 * b.coeffs());  in slerp_gael()