Orientlib: An R Package for Orientation Data

Duncan Murdoch

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Orientlib is an R package to facilitate working with orientation data, i.e. elements of S O(3). It provides automatic translation between different representations of orientations, including rotation matrices, quaternions, Euler angles and skew-symmetric matrices; it also has functions for fitting regression models and displaying orientations. This paper reviews simple properties of orientation data and describes Orientlib.

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