code: def slerp(R1, R2, t1, t2, t_out):
      
      tau = (t_out-t1)/(t2-t1)
      return np.slerp_vectorized(R1, R2, tau)
docs: Spherical linear interpolation of rotors
  
      This function uses a simpler interface than the more fundamental
      `slerp_evaluate` and `slerp_vectorized` functions.  The latter
      are fast, being implemented at the C level, but take input `tau`
      instead of time.  This function adjusts the time accordingly.
  
      Parameters
      ----------
      R1: quaternion
          Quaternion at beginning of interpolation
      R2: quaternion
          Quaternion at end of interpolation
      t1: float
          Time corresponding to R1
      t2: float
          Time corresponding to R2
      t_out: float or array of floats
          Times to which the rotors should be interpolated