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RSpincalc  

Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors
View on CRAN: Click here


Download and install RSpincalc package within the R console
Install from CRAN:
install.packages("RSpincalc")

Install from Github:
library("remotes")
install_github("cran/RSpincalc")

Install by package version:
library("remotes")
install_version("RSpincalc", "1.0.2")



Attach the package and use:
library("RSpincalc")
Maintained by
Jose Gama
[Scholar Profile | Author Map]
All associated links for this package
First Published: 2014-02-11
Latest Update: 2015-07-17
Description:
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.
How to cite:
Jose Gama (2014). RSpincalc: Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors. R package version 1.0.2, https://cran.r-project.org/web/packages/RSpincalc. Accessed 26 Aug. 2026.
Previous versions and publish date:
(2026-07-09 08:20), 1.0.0 (2014-02-11 15:28), 1.0.1 (2014-02-26 09:51)
Other packages that cited RSpincalc R package
View RSpincalc citation profile
Other R packages that RSpincalc depends, imports, suggests or enhances
Complete documentation for RSpincalc
Functions, R codes and Examples using the RSpincalc R package
Some associated functions: DCM2EA . DCM2EV . DCM2Q . DCMrandom . EA2DCM . EA2EA . EA2EV . EA2Q . EArandom . EV2DCM . EV2EA . EV2Q . EVrandom . Q2DCM . Q2EA . Q2EV . Q2GL . QangularDifference . Qconj . Qinv . Qlerp . Qlog . Qnorm . Qnormalize . Qrandom . Qrot . Qzero . isPureRotationMatrix . vectQrot . z1 . z2 . z3 . z4 . z5 . 
Some associated R codes: RSpinconv.R .  Full RSpincalc package functions and examples
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