disp('>> % 	INTERPOLATION OF ORIENTATIONS');     % 	INTERPOLATION OF ORIENTATIONS     GAfigure; clc; %/     disp('>> % 	INTERPOLATION OF ORIENTATIONS');     % 	INTERPOLATION OF ORIENTATIONS     global RA RB u v; %/          clf; %/     disp('>> %	Problem: interpolate two orientations.');     %	Problem: interpolate two orientations.     disp('>> %');     %     disp('>> % 	An orientation can be characterized ');     % 	An orientation can be characterized      disp('>> %	by a rotation from a standard pose.');     %	by a rotation from a standard pose.     disp('>> %	Let the orientations be RA and RB.');     %	Let the orientations be RA and RB.     disp('>> %');     %     u = e1+e2-e3; %/     v = e1+e3; %/     view = [-1 2 -1 2 -2 1]; %/     disp('>> % 	Initial orientation RA (applied to a bivector u^v):');     % 	Initial orientation RA (applied to a bivector u^v):     fprintf(1,'\n');     disp('>> RA = gexp(-I3*e1*pi/2/2);');     RA = gexp(-I3*e1*pi/2/2);     DrawBivector(RA*u/RA,RA*v/RA,'b');  %/     GAtext(1.1* RA*(u+v)/RA,'" R_A"','b'); %/     axis(view); axis off; %/     GAview([30 30]); %/     GAprompt; %/     disp('>> % 	Final orientation (applied to u^v):');     % 	Final orientation (applied to u^v):     fprintf(1,'\n');     disp('>> RB = gexp(-I3*e2*pi/2/2);');     RB = gexp(-I3*e2*pi/2/2);     DrawBivector(RB*u/RB,RB*v/RB,'g');  axis(view); %/     GAtext(1.1* RB*(u+v)/RB,'" R_B"','k'); %/     GAprompt; %/     disp('>> % 	Interpolation through division of total rotor:');     % 	Interpolation through division of total rotor:     fprintf(1,'\n');     fprintf(1,'>> Rtot =  RB/RA  ');     input('');     Rtot =  RB/RA %w     disp('>> % which is done through incremental rotor R:');     % which is done through incremental rotor R:     fprintf(1,'\n');     n = 8;                          %/     disp('>> R = gexp(sLog(Rtot)/n)');     R = gexp(sLog(Rtot)/n)     axisR = unit(GAZ(-sLog(R)/I3));   %/      draw(axisR,'r'); %/     title('R = exp( log( R_B/R_A ) / n)','Color','r'); %/     draw(-sLog(Rtot)/n,'r'); %/     axis(view); %/     GAprompt; %/     disp('>> % 	Execute the interpolations from RA[u^v] to RB[u^v]');     % 	Execute the interpolations from RA[u^v] to RB[u^v]          Ri = RA;  %/          for i=1:n-1  %/     	 disp(['i = ', num2str(i) ':   R' num2str(i) ' = R*R' num2str(i-1)]); %/              Ri = R*Ri; %/              DrawBivector(Ri*u/Ri,Ri*v/Ri); %/              axis(view); %/              drawnow; %/          end %/     GAprompt; %/     title(''); %/     GAorbiter(125,10); %/