def getPoseInterpolator(self, poseTimes, poses, unwrap_rpy=True):
        if unwrap_rpy:
            poses = np.array(poses, copy=True)
            poses[:,3:6] = np.unwrap(poses[:,3:6],axis=0)

        if self.interpolationMethod in ['slinear', 'quadratic', 'cubic']:
            f = scipy.interpolate.interp1d(poseTimes, poses, axis=0, kind=self.interpolationMethod)
        elif self.interpolationMethod == 'pchip':
            f = scipy.interpolate.pchip(poseTimes, poses, axis=0)
        return f
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/planplayback.py/PlanPlayback.getPoseInterpolator/original