Help for SCINTERP

PURPOSE:
The two ephemerides/attitudes are denoted previous (peph and patt parameters) and
subsequent (seph and satt parameters).  Each of these four items is a quaternion
followed by a time stamp.  The quaternions are in order (scalar,i,j,k).  They are
interpolated to the time stamp given by the imtime parameter.

note - w_t_sv0 is always 0, hence is not returned by this program

EXECUTION:

Examples

scinterp peph=(pw,px,py,pz,pt) patt=(qw,qx,qy,qz,qt)           seph=(sw,sx,sy,sz,st) satt=(tw,tx,ty,tz,tt)           w_t1=w1 w_t2=w2 w_t3=w3           w_omega1=o1 w_omega2=o2 w_omega3=o3



OPERATION:

interpolation methods:

ephemeris - linear interpolation
attitude - spherical linear interpolation between two rotation quaternions (slerp)

TIMING: 

extremely fast 

RESTRICTIONS:

The time from parameter imtime must lie on or between the two timestamps in the
two ephemerides and also on or between the two timestamps of the two attitudes.


 ORIGINAL PROGRAMMER:    A. Zobrist          11 Jan 2006
 INTERPOLATION SUBR:     M. Burl             11 Jan 2006
 COGNIZANT PROGRAMMER:   A. Zobrist          11 Jan 2006
 
 REVISION HISTORY
  2006-01-11 AZ  - Initial version.
  2007-06-12 AZ  - New interpolation routine by Mike Burl.
  2007-12-28 WLB - Switched to USES_ANSI_C AND LIB_CARTO; misc cleanup.
  2017-06-20 WLB - Migrated to MIPL, updated tstscinterp.pdf.