Function geo_nd::quat::weighted_average_pair

pub fn weighted_average_pair<V: Float>(
    qa: &[V; 4],
    w_a: V,
    qb: &[V; 4],
    w_b: V
) -> [V; 4]

Calculate the weighted average of two unit quaternions

w_a + w_b must be 1.

See http://www.acsu.buffalo.edu/~johnc/ave_quat07.pdf Averaging Quaternions by F. Landis Markley