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/zscilib-3.4.0/src/orientation/
Dquaternions.c371 zsl_real_t phi_s; /* sin(phi). */ in zsl_quat_slerp() local
429 phi_s = ZSL_SIN(phi); in zsl_quat_slerp()
434 zsl_quat_scale(&qa_u, phi_smt / phi_s, &q1); in zsl_quat_slerp()
435 zsl_quat_scale(&qb_u, phi_st / phi_s, &q2); in zsl_quat_slerp()