close all
clear all

q1 = [sqrt(2), sqrt(2), 0, 0]';
q2 = [1, 0, 0, 0]';
q3_gt = [0.92387953251128673848, 0.38268343236508978178, 0, 0]';
t = 0.5;

slerp(q1,q2, 0.0)
slerp(q1,q2,1)

q3 = slerp(q1, q2, t)


diff = q3 - q3_gt
