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Fix slerp at coincident/antipodal endpoints, and SO2/SE2.interp1() - #193

Merged

petercorke merged 5 commits into

rai-opensource:masterfrom

binggao1230:fix-slerp-singular-endpoints

Sep 15, 2026

Commits on Aug 20, 2026
- Fix quaternion slerp when the endpoints are the same rotation
  
  binggao1230
  authored and
  petercorke
  committed
  4d4196d
- Fix SO2/SE2.interp1(), which raised NameError for every input
  
  binggao1230
  authored and
  petercorke
  committed
  1e0643d
- Hoist loop-invariant slerp setup
  binggao1230
  committed
  75856e8
- Inline prepared slerp loops
  binggao1230
  committed
  22518fd
Commits on Sep 15, 2026
- Merge branch 'master' into fix-slerp-singular-endpoints
  petercorke
  authored
  ff8e898