Description Details Release History Note Author(s)

Representations, conversions and display of orientation data.

This package contains methods for working with orientation data, i.e.
data from SO(3). The basic abstract class is the `orientation`

;
there are several concrete classes (`rotmatrix`

,
`rotvector`

, `eulerzyx`

, `eulerzxz`

,
`quaternion`

, `skewmatrix`

and `skewvector`

)
storing different
representations of orientations.

Methods are defined to get the length of a vector of orientations, as well as to extract and replace elements, and to multiply orientations and raise them to real powers.

There are also utility functions `rotation.distance`

,
`rotation.angle`

, `nearest.orthog`

,
`nearest.SO3`

.

There is a plotting method `boat3d`

to display orientation data
in a 3D plot, and a linear modelling function `orientlm`

.

Version 0.9

-Added CITATION file, dropped djmrgl support.

Versions 0.3 to 0.8

-Changes for CRAN compliance and minor corrections.

Version 0.2

-Added

`mean`

and`weighted.mean`

.-Made

`orientation`

descend from`vector`

.-Added

`[[`

methods.-Changed default look of boats.

-Made

`rotmatrix`

etc. into conversion functions between orientation types.-Added

`eulerzxz`

class.-Added various parameters to

`boat3d`

.-Added

`orientlm`

regression function plus transpose`t()`

method.-Added

`rgl`

and`scatterplot3d`

support to`boat3d`

function.-Added

`skewmatrix`

.

Version 0.1

-First release.

Plots require either the `rgl`

or `scatterplot3d`

package.

Duncan Murdoch

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