A method for an accurate approximation to Slerp function that is much
faster to compute on current processors. Specifically, the present
invention provides a method for obtaining an interpolated quaternion
comprising forming a first product of a first quaternion and a first
scaling function; forming a second product of a second quaternion and a
second scaling function; and forming a sum of the first product and the
second product, wherein the first scaling function is approximated by
obtaining a first polynomial and wherein the second scaling function is
approximated by obtaining a second polynomial, thus obtaining an
interpolated quaternion that is in between the first quaternion and the
second quaternion.