I have a question about interpolating orientations:

I have a set of timestamp/orientation pairs (the orientations are 
represented as unit quaternions), and now I'd like to interpolate them 
to get a smooth animation. Simple cubic interpolation works, but is not 
optimal.
I've read that orientations should be interpolated using slerp 
(spherical linear interpolation) - this would ensure that the 
interpolated points are on the (4d) sphere are on a great circle 
representing the shortest distance between the two orienations.
So far so good, but I'd need cubic interpolation... Is there something 
like "spherical cubic interpolation" ?

Perhaps someone already wrote some POV-Ray macros or other code that 
does what I'm looking for and would share it?
Or know a link to a paper about that topic...?

Thanks a lot!

-Sascha Ledinsky

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