Consider two poses represented by homogeneous transformation matrices: T1 and T2. Write an algorithm to interpolate between these poses according to 0 <= s <= 1. When s=0 the algorithm should return T1 and when s =1 it should return T2 . For intermediate values of s it should return a proper homogeneous transformation matrix. Orientation angle should increase in a positive (counter clockwise) direction.

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Chris Cleveland George Berken Hoang Minh Tri Lorenzo

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