An easy implementation to average multiple quaternions where each of them can be given a weight. The implementation is based on this paper by Markley: https://arc.aiaa.org/doi/10.2514/1.28949
An easy implementation to average multiple quaternions where each of them can be given a weight. The implementation is based on this paper by Markley: https://arc.aiaa.org/doi/10.2514/1.28949