def frameInterpolate(trans_a, trans_b, weight_b):
    '''
    Interpolate two frames where weight_b=[0,1]
    '''
    [pos_a, quat_a] = poseFromTransform(trans_a)
    [pos_b, quat_b] = poseFromTransform(trans_b)
    pos_c = pos_a *(1-weight_b) + pos_b * weight_b;
    quat_c = transformations.quaternion_slerp(quat_a, quat_b, weight_b)
    return transformFromPose(pos_c, quat_c)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/transformUtils.py/frameInterpolate/original