Linear interpolation of tool position and orientation.

When alpha is 0, returns p_from. When alpha is 1, returns p_to. As alpha goes from 0 to 1, returns a pose going in a straight line (and geodetic orientation change) from p_from to p_to. If alpha is less than 0, returns a point before p_from on the line. If alpha is greater than 1, returns a pose after p_to on the line.

Parameters

p_from: tool pose (pose)

p_to: tool pose (pose)

alpha: Floating point number

Return Value

interpolated pose (pose)

Example command: interpolate_pose(p[.2,.2,.4,0,0,0], p[.2,.2,.6,0,0,0], .5)

• Example Parameters:
  • p_from = p[.2,.2,.4,0,0,0]
  • p_to = p[.2,.2,.6,0,0,0]
  • alpha = .5
    • Returns p[.2,.2,.5,0,0,0]