Arbitrary-Order Hermite Interpolation of Rigid-Motion Jets via Hyper-Multidual Quaternions

Abstract

We study bilateral interpolation of finite-order rigid-motion jets represented by unit dual quaternions. An order-$n$ multidual (MD) algebra is the truncated polynomial algebra $\mathbb{R}[\epsilon ]/({\epsilon }^{n+1})$; hyper-multidual (HMD) quaternions are dual quaternions with coefficients in this algebra. Temporal HMD transforms encode a pose and its derivatives, whereas a generic HMD curve need not be the temporal jet of its pose projection; we call this requirement holonomicity. We show that a temporal transform and its relative descriptor are unitary and derive recursive coefficient constraints, together with a local realizability converse in an admissible logarithm chart. We then extend screw linear interpolation (ScLERP) algebraically to unit HMD quaternions. Although it matches complete endpoint transforms, direct HMD--ScLERP is generically non-holonomic for arbitrary endpoint jets. We give a coefficient criterion and explicit endpoint and first-order interior contact defects. A holonomic alternative is obtained by mapping endpoint transforms to logarithmic dual-quaternion coordinates, applying the degree-$(2n+1)$ Hermite polynomial that matches derivatives through order $n$, and lifting by the exponential. HMD arithmetic also recovers higher-order rigid-motion acceleration fields without explicit differentiation of $\mathrm{dexp}$. Rotation and full $\mathrm{SE}(3)$ tests through second order, with an additional third-order polynomial check, reproduce the stated defects and endpoint jets.

21 pages, 1 figure