Cubic Interpolation of Quaternion

[msk-lywenn]

https://theorangeduck.com/page/cubic-interpolation-quaternions

[chombier]

The method described looks similar to [0] which extends Euclidean spline curves to Lie groups using the exponential map (here the conversion from/to scaled-angle-axis)

[0]: A general construction scheme for unit quaternion curves with simple high order derivatives https://dl.acm.org/doi/10.1145/218380.218486