vkmb / Dual-Quaternion-Quintic-Blends

Repository complementary to the published paper: "Dual Quaternion Quintic Blends: C2-Continuous, Time-Optimized Interpolation of Unit Dual Quaternions"

Dual Quaternion Quintic Blends (DQQB) Algorithm

Overview

This repository contains the implementation of the Dual Quaternion Quintic Blends (DQQB) algorithm, as detailed in our paper: "Dual Quaternion Quintic Blends: $\mathcal{C}^2$-Continuous, Time-Optimized Interpolation of Unit Dual Quaternions". The DQQB algorithm is a novel method for interpolating unit dual quaternions, offering $\mathcal{C}^2$-continuous trajectories, ideal for robotic applications requiring high precision and smooth motion.

Features

• Implementation of the DQQB algorithm for trajectory planning.
• Examples demonstrating the use of the algorithm in various scenarios.
• Tools for evaluating and visualizing the trajectories.
• Comprehensive documentation for ease of use and customization.

Installation

Instructions to set up the environment and install necessary dependencies.