function [interp_value,slerpmat] = omnislerp(target_coord,data_coord,data_value,interp_func,mode)
if ~exist('interp_func','var'),interp_func = @(x) x;end
if ~exist('mode','var'),mode = 'slerp';end

switch mode
    case 'slerp'
        target_coord = target_coord.normalize;
        data_coord = data_coord.normalize;
        slerpmat = interp_func(target_coord.Qangle(data_coord.T));
    case 'lerp'
        slerpmat = interp_func(norm(target_coord-data_coord.T));
end
slerpmat = slerpmat./sum(slerpmat);
interp_value = slerpmat*data_value;
end