Package: RSpincalc 1.0.2

Jose Gama

RSpincalc: Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors

Conversion between attitude representations: DCM, Euler angles, Quaternions, and Euler vectors. Plus conversion between 2 Euler angle set types (xyx, yzy, zxz, xzx, yxy, zyz, xyz, yzx, zxy, xzy, yxz, zyx). Fully vectorized code, with warnings/errors for Euler angles (singularity, out of range, invalid angle order), DCM (orthogonality, not proper, exceeded tolerance to unity determinant) and Euler vectors(not unity). Also quaternion and other useful functions. Based on SpinCalc by John Fuller and SpinConv by Paolo de Leva.

Authors:Jose Gama [aut, cre], John Fuller [aut, cph], Paolo Leva [aut, cph]

RSpincalc_1.0.2.tar.gz
RSpincalc_1.0.2.tar.gz(r-4.5-noble)RSpincalc_1.0.2.tar.gz(r-4.4-noble)
RSpincalc_1.0.2.tgz(r-4.4-emscripten)RSpincalc_1.0.2.tgz(r-4.3-emscripten)
RSpincalc.pdf |RSpincalc.html✨
RSpincalc/json (API)

# Install 'RSpincalc' in R:
install.packages('RSpincalc', repos = 'https://cloud.r-project.org')

On CRAN:

Conda:

This package does not link to any Github/Gitlab/R-forge repository. No issue tracker or development information is available.

1.48 score 1 packages 183 downloads 45 exports 0 dependencies

Last updated 10 years agofrom:6b7c30d6a4. Checks:3 OK. Indexed: yes.

TargetResultLatest binary
Doc / VignettesOKMar 30 2025
R-4.5-linuxOKMar 30 2025
R-4.4-linuxOKMar 30 2025

Exports:%Q-%%Q.%%Q*%%Q/%%Q+%DCM2EADCM2EVDCM2QDCMrandomEA2DCMEA2EAEA2EVEA2QEArandomEV2DCMEV2EAEV2QEVrandomisPureQuaternionisPureRotationMatrixisRealQuaternionisUnitQuaternionQ2DCMQ2EAQ2EA.XiaoQ2EVQ2GLQangularDifferenceQbezierQconjQexpQinvQlerpQlogQnormQnormalizeQoneQrandomQrotQslerpQslerpNoInvertQsplineQsquadQzerovectQrot

Dependencies:

Citation

To cite package ‘RSpincalc’ in publications use:

Gama J, Fuller J, Leva P (2015). RSpincalc: Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors. R package version 1.0.2, https://CRAN.R-project.org/package=RSpincalc.

Corresponding BibTeX entry: 

  @Manual{,
    title = {RSpincalc: Conversion Between Attitude Representations of
      DCM, Euler Angles, Quaternions, and Euler Vectors},
    author = {Jose Gama and John Fuller and Paolo Leva},
    year = {2015},
    note = {R package version 1.0.2},
    url = {https://CRAN.R-project.org/package=RSpincalc},
  }

Readme and manuals

Help Manual

Help pageTopics
Convert from Direction Cosine Matrix to Euler AnglesDCM2EA
Convert from Direction Cosine Matrix to Euler VectorsDCM2EV
Convert from Direction Cosine Matrix to rotation QuaternionsDCM2Q
Generate uniform random direction cosine matricesDCMrandom
Convert from Euler Angles to Direction Cosine MatrixEA2DCM
Convert from Euler Angles to Euler AnglesEA2EA
Convert from Euler Angles to Euler VectorsEA2EV
Convert from Euler Angles to rotation QuaternionsEA2Q
Generate uniform random Euler AnglesEArandom
Convert from Euler Vectors to Direction Cosine MatrixEV2DCM
Convert from Euler Vectors to Euler AnglesEV2EA
Convert from Euler Vectors to rotation QuaternionsEV2Q
Generate uniform random Euler VectorsEVrandom
Determine if the variable is a pure rotation matrixisPureQuaternion isPureRotationMatrix isRealQuaternion isUnitQuaternion
Convert from rotation Quaternions to Direction Cosine MatrixQ2DCM
Convert from rotation Quaternions to Euler AnglesQ2EA Q2EA.Xiao
Convert from rotation Quaternions to Euler VectorsQ2EV
Convert from rotation Quaternions to OpenGL rotation matrixQ2GL
Angular difference between 2 quaternionsQangularDifference
Quaternion conjugateQconj
Quaternion inverseQinv
Linear quaternion interpolationQbezier Qlerp Qslerp QslerpNoInvert Qspline Qsquad
Quaternion logarithmQexp Qlog
Norm of a quaternionQnorm
Quaternion normalizationQnormalize
Generate uniform random unit quaternionsQrandom
Updates current attitude quaternionQrot
Generate zero-valued quaternionsQone Qzero
Rotate a vector by a quaternionvectQrot
Quaternion multiplication%Q*%
Quaternion division%Q/%
Quaternion subtraction%Q-%
Quaternion addition%Q+%
Quaternion dot product%Q.%