orientlib | R Documentation |
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
.
Plots require either the rgl
or scatterplot3d
package.
Duncan Murdoch
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