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Fix slerp at coincident/antipodal endpoints, and SO2/SE2.interp1() - #193

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Fix slerp at coincident/antipodal endpoints, and SO2/SE2.interp1()#193
gaoflow wants to merge 2 commits into
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gaoflow:fix-slerp-singular-endpoints

Fix SO2/SE2.interp1(), which raised NameError for every input

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