main/src/georegression/transform/se/InterpolateLinearSe3_F64.java
public void interpolate( double where , Se3_F64 output ) {
		rotation.setTheta(where*rotMagnitude);
		ConvertRotation3D_F64.rodriguesToMatrix(rotation,R);

		output.T.x = initial.T.x + where*translation.x;
		output.T.y = initial.T.y + where*translation.y;
		output.T.z = initial.T.z + where*translation.z;

		CommonOps_DDRM.mult(initial.R,R,output.R);
	}
public void interpolate( double where , Se3_F64 output ) {
		rotation.setTheta(where*rotMagnitude);
		ConvertRotation3D_F64.rodriguesToMatrix(rotation,R);

		output.T.x = initial.T.x + where*translation.x;
		output.T.y = initial.T.y + where*translation.y;
		output.T.z = initial.T.z + where*translation.z;

		CommonOps_DDRM.mult(initial.R,R,output.R);
	}
Interpolates a value between the first and second transform.  A value close to 0 will be
more similar to the initial and 1 more similar to the end.
@param where A value between 0 and 1 which specifies the interpolation location
@param output Resulting transform