I'm looking at the implementation of the slerp function in eigen3 (https://bitbucket.org/eigen/eigen/src/0 ... ult#cl-681). For unit quaternions it doesn't seem to match the Wikipedia page that it references (https://en.wikipedia.org/wiki/Slerp). Is there a reason that something like

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slerp(q0,q1,t) = q0 * (q0^-1 * q1 )^t

is not used?

Is this the best place to ask this sort of question, or is there something like a developers mailing list that would be more appropriate?

Actually, the implementation of q0 * (q0^-1 * q1 )^t boils down to the code you saw in eigen3 with some additional considerations on numerical accuracy. See this wikipedia page for the power of a quaternion: http://en.wikipedia.org/wiki/Quaternion ... _and_power

That makes sense. Thanks for the explanation!