points-frame interpolate option and Euler angles

[akas9185]

If a nav stream happens to be close to 180 degrees then the stream might jump between -pi and pi. In that case, interpolation produces weird results.

[aquad]

I'd recommend using Eigen's quaternion slerp function: http://eigen.tuxfamily.org/dox/classEigen_1_1QuaternionBase.html#aa29a81b780c3012d0fd126a4525781c2

[vlaskine]

a good point; you either can use quaternions, or manually check in the interpolation function whether yaw crosses pi or -pi