Orientlib: An R Package for Orientation Data

by Duncan Murdoch (University of Western Ontario, Canada)

Orientlib is an R package to facilitate working with orientation data, i.e. elements of SO(3). It provides automatic translation be-tween different representations of orientations, including rotation ma-trices, 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.

Keywords: SO(3), orientation data, Euler angles, quaternions, ro-tation matrices

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