ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
Try to see the difference from OpenRave source: for SLERP: http://openrave.org/docs/latest_stable/coreapihtml/geometry_8h_source.html#l00988 for Rotate: http://openrave.org/docs/latest_stable/coreapihtml/geometry_8h_source.html#l01038 .
The smoothness is definetely a function of your step both for the SLERP and ROTATE.
Hard to tell for me which would be faster if you use or do not use SIMD (SSE) instructions.