/** * Linearly interpolates between tuples yoFrameTuple1 and yoFrameTuple2 and places the result into this tuple: this = (1-alpha) * yoFrameTuple1 + alpha * yoFrameTuple2. * @param yoFrameTuple1 the first tuple * @param yoFrameTuple2 the second tuple * @param alpha the alpha interpolation parameter * @throws ReferenceFrameMismatchException */ public final void interpolate(YoFrameTuple<?, ?> yoFrameTuple1, YoFrameTuple<?, ?> yoFrameTuple2, double alpha) { checkReferenceFrameMatch(yoFrameTuple1); checkReferenceFrameMatch(yoFrameTuple2); interpolate(yoFrameTuple1.getFrameTuple(), yoFrameTuple2.getFrameTuple(), alpha); }