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I have decided for now to use spherical linear interpolation (slerp) instead of a QKF. I just noticed the tf package of ros provides an implementation of slerp. I am note sure, as of yet the, what are the pros/cons of slerp vs QKF. One of the advantages of slerp is no doubt it's simplicity.

void update(){

        tf_listener.lookupTransform(fixed_frame,target_frame_vision, ros::Time(0), tf_transform);

        q1 = tf_transform.getRotation();
        q0 = q0.slerp(q1,0.1);
}

I have decided for now to use spherical linear interpolation (slerp) instead of a QKF. I just noticed the tf package of ros provides an implementation of slerp. I am note sure, as of yet the, what are the pros/cons of slerp vs QKF. One of the advantages of slerp is no doubt it's simplicity.

void update(){

 tf_listener.lookupTransform(fixed_frame,target_frame_vision, ros::Time(0), tf_transform);

 q1 = tf_transform.getRotation();
 q0 = q0.slerp(q1,0.1);
}