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.

Version: 1.0.2
Published: 2015-07-17
Author: Jose Gama [aut, cre], John Fuller [aut, cph], Paolo Leva [aut, cph]
Maintainer: Jose Gama <rxprtgama at>
License: GPL (≥ 3)
NeedsCompilation: no
CRAN checks: RSpincalc results


Reference manual: RSpincalc.pdf
Package source: RSpincalc_1.0.2.tar.gz
Windows binaries: r-devel:, r-release:, r-oldrel:
OS X El Capitan binaries: r-release: RSpincalc_1.0.2.tgz
OS X Mavericks binaries: r-oldrel: RSpincalc_1.0.2.tgz
Old sources: RSpincalc archive

Reverse dependencies:

Reverse depends: RAHRS


Please use the canonical form to link to this page.