InterpolatePy
InterpolatePy is a trajectory-planning and interpolation library for robotics, animation, and scientific computing. It includes scalar splines, B-spline curve tools, bounded motion profiles, quaternion interpolation, and 3D path utilities.
The package has a NumPy/SciPy implementation and an optional C++20 backend. Use
the public names exported by interpolatepy; they select the available backend
at import time.
Installation
python -m pip install InterpolatePy
InterpolatePy 3.3.0 requires Python 3.11 or newer, NumPy 1.26 or newer, and SciPy 1.11 or newer. Install plotting support when needed:
python -m pip install "InterpolatePy[plot]"
Quick start
import numpy as np
from interpolatepy import CubicSpline
from interpolatepy import DoubleSTrajectory
from interpolatepy import StateParams
from interpolatepy import TrajectoryBounds
# A clamped cubic spline: v0 and vn are endpoint velocities.
spline = CubicSpline(
[0.0, 1.0, 2.0, 3.0],
[0.0, 1.5, -0.5, 2.0],
v0=0.0,
vn=0.0,
)
times = np.linspace(0.0, 3.0, 100)
positions = spline.evaluate(times)
velocities = spline.evaluate_velocity(times)
# A jerk-limited Double-S motion profile.
state = StateParams(q_0=0.0, q_1=10.0, v_0=0.0, v_1=0.0)
bounds = TrajectoryBounds(v_bound=5.0, a_bound=10.0, j_bound=30.0)
motion = DoubleSTrajectory(state, bounds)
sample_times = np.linspace(0.0, motion.get_duration(), 100)
q, qd, qdd, qddd = motion.evaluate_full(sample_times)
DoubleSTrajectory.evaluate() returns position only. Use
evaluate_velocity(), evaluate_acceleration(), and evaluate_jerk() for one
component, or evaluate_full() for all four.
What is included
| Area | Public APIs | Typical use |
|---|---|---|
| Scalar splines | CubicSpline, CubicSmoothingSpline, CubicSplineWithAcceleration1, CubicSplineWithAcceleration2 |
Smooth scalar waypoint trajectories and noisy data |
| B-splines | BSpline, BSplineInterpolator, CubicBSplineInterpolation, ApproximationBSpline, SmoothingCubicBSpline |
Parametric curves, interpolation, approximation, and smoothing |
| Motion profiles | DoubleSTrajectory, TrapezoidalTrajectory, PolynomialTrajectory, ParabolicBlendTrajectory |
Bounded or boundary-conditioned scalar motion |
| Rotations | Quaternion, QuaternionSpline, SquadC2, SpringQuaternionInterpolation, ShootingQuaternionInterpolation, LogQuaternionInterpolation, ModifiedLogQuaternionInterpolation |
Orientation interpolation without Euler-angle singularities |
| Paths and utilities | LinearPath, CircularPath, Frenet-frame helpers, linear_traj, solve_tridiagonal |
Geometric paths, moving frames, and numerical helpers |
Degrees 3, 4, and 5 of BSplineInterpolator,
LogQuaternionInterpolation, and ModifiedLogQuaternionInterpolation support
as few as two waypoints in version 3.2.0.
See the algorithm selection guide, the full documentation, and the runnable examples.
Optional C++ backend
Platform wheels include the compiled backend. The package falls back to Python automatically when the extension is absent:
import interpolatepy
print(interpolatepy.HAS_CPP)
Set INTERPOLATEPY_NO_CPP=1 before importing the package to force the Python
implementation. Installing a published wheel does not need a compiler. Building
from a source distribution or source checkout requires CMake 3.21+, a C++20
compiler, and network access for CMake's fetched dependencies;
see the installation guide.
Development
This project uses uv:
git clone https://github.com/GiorgioMedico/InterpolatePy.git
cd InterpolatePy
uv sync
uv run pytest
uv run pre-commit run --all-files
Documentation dependencies are in a separate group:
uv sync --group docs
uv run mkdocs serve
Every Python program in examples/ can also be run directly, for example:
uv run python examples/double_s_ex.py
For the complete workflow, see Contributing.
License and citation
InterpolatePy is distributed under the MIT License.
@misc{InterpolatePy,
author = {Giorgio Medico},
title = {InterpolatePy: Trajectory Planning and Interpolation for Python},
year = {2026},
url = {https://github.com/GiorgioMedico/InterpolatePy}
}
1 maintainer
Metadata
1 maintainer
Release files for InterpolatePy 3.3.0
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