Matlab quaternion interpolation function based on this paper: https://www.mathworks.com/help/aerotbx/ug/quatinterp.html https://www.mathworks.com/help/aerotbx/

Matlab quaternion interpolation function based on this paper: https://www.mathworks.com/help/aerotbx/ug/quatinterp.html https://www.mathworks.com/help/aerotbx/ug/quatinterp.html "qi=quatinterp(p,q,f,method) calculates the quaternion interpolation between two normalized quaternions p and q by interval fraction f. p and q are the two extremes between which the function calculates the quaternion. Aerospace Toolbox uses quaternions that are defined using the scalar-first convention."