3 ms·
Yes, SLERP is commutative along one-parameter subgroups by definition. The problem arises as soon as more than two quaternions are to be averaged using the abov
by chombier 4y ago
Yes, SLERP is commutative along one-parameter subgroups by definition. The problem arises as soon as more than two quaternions are to be averaged using the above procedure.
Again, using 3 quaternions and uniform weights with the above algorithm gives
slerp(slerp(a, b, 1/2), c, 1/3) but medians in a spherical triangle don't cross at 2:1 ratio in general.
- xaedes 4y agoHm yes. I also played with a few a examples. I have to admit, the order seems to only be really irrelevant when averaging rotations around one axis to avoid triangles. Thanks for pointing out. For averaging rotations that are similar the differences are tiny, but still. What a bummer.