def quaternions_interpolate(q_left, t_left, q_right, t_right, times):
  """ Returns an array of the interpolated quaternions between q_left/t_left and
  q_right/t_right at times.
  """

  times_scaled = (times - t_left) / (t_right - t_left)
  return [quaternion_slerp(q_left, q_right, time) for time in times_scaled]
 Returns an array of the interpolated quaternions between q_left/t_left and
  q_right/t_right at times.
  
hand_eye_calibration/python/hand_eye_calibration/quaternion.py