orientlib             package:orientlib             R Documentation

_O_r_i_e_n_t_a_t_i_o_n _L_i_b_r_a_r_y

_D_e_s_c_r_i_p_t_i_o_n:

     Representations, conversions and display of orientation data.

_D_e_t_a_i_l_s:

     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'.

_R_e_l_e_a_s_e _H_i_s_t_o_r_y:

      - Changes for CRAN compliance.


      - Added 'mean' and 'weighted.mean'.

      - Made 'orientation' descend from 'vector'.

      - Added '[[' methods.

      - Changed default look of boats.

      - Made 'rotmatrix' etc. into conversion functions between
           orientation types.

      - Added 'eulerzxz' class.

      - Added various parameters to 'boat3d'.

      - Added 'orientlm' regression function plus transpose 't()'
           method.

      - Added 'rgl' and 'scatterplot3d' support to 'boat3d' function.

      - Added 'skewmatrix'.


      - First release.

_N_o_t_e:

     Plots require one of the 'djmrgl', 'rgl',  or 'scatterplot3d'
     libraries.

_A_u_t_h_o_r(_s):

     Duncan Murdoch

