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Try to see the difference from OpenRave source: for SLERP: http://openrave.org/docs/latest_stable/coreapihtml/geometry_8h_source.html#l00988 for Rotate: http://openrave.org/docs/latest_stable/coreapihtml/geometry_8h_source.html#l01038 .

The smoothness is definetely a function of your step both for the SLERP and ROTATE.

Hard to tell for me which would be faster if you use or do not use SIMD (SSE) instructions.

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