main/src/georegression/transform/se/InterpolateLinearSe3_F64.java
public void setTransforms( Se3_F64 initial , Se3_F64 end) {
		this.initial.set(initial);

		translation.x = end.T.x - initial.T.x;
		translation.y = end.T.y - initial.T.y;
		translation.z = end.T.z - initial.T.z;

		CommonOps_DDRM.multTransA(initial.getR(), end.getR(), R);

		ConvertRotation3D_F64.matrixToRodrigues(R,rotation);
		rotMagnitude = rotation.theta;
	}
public void setTransforms( Se3_F64 initial , Se3_F64 end) {
		this.initial.set(initial);

		translation.x = end.T.x - initial.T.x;
		translation.y = end.T.y - initial.T.y;
		translation.z = end.T.z - initial.T.z;

		CommonOps_DDRM.multTransA(initial.getR(), end.getR(), R);

		ConvertRotation3D_F64.matrixToRodrigues(R,rotation);
		rotMagnitude = rotation.theta;
	}
Specify the two transforms which values are to be interpolated between
@param initial first transform
@param end second transform