rotations: An R Package for SO(3) Data

Authors

Bryan Stanfill, Iowa State University
Heike Hofmann, Iowa State University
Ulrike Genschel, Iowa State University

Date of this Version

6-2014

Document Type

Article

Citation

The R Journal (June 2014) 6(1); Editor: Deepayan Sarkar

Comments

Copyright 2014, The R Foundation. Open access material. License: CC BY 3.0 Unported

Abstract

In this article we introduce the rotations package which provides users with the ability to simulate, analyze and visualize three-dimensional rotation data. More specifically it includes four commonly used distributions from which to simulate data, four estimators of the central orientation, six confidence region estimation procedures and two approaches to visualizing rotation data. All of these features are available for two different parameterizations of rotations: three-by-three matrices and quaternions. In addition, two datasets are included that illustrate the use of rotation data in practice