The R Journal: article published in 2014, volume 6:1

rotations: An R Package for SO(3) Data PDF download
Bryan Stanfill, Heike Hofmann and Ulrike Genschel , The R Journal (2014) 6:1, pages 68-78.

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.

Received: 2013-09-21; online 2014-04-19
CRAN packages: orientlib, onion, circular, SpherWave, rotations, ggplot2, sphereplot, Rcpp, RcppArmadillo
CRAN Task Views implied by cited CRAN packages: NumericalMathematics, Graphics, Environmetrics, HighPerformanceComputing, Phylogenetics

CC BY 4.0
This article is licensed under a Creative Commons Attribution 3.0 Unported license .

  author = {Bryan Stanfill and Heike Hofmann and Ulrike Genschel},
  title = {{rotations: An R Package for SO(3) Data}},
  year = {2014},
  journal = {{The R Journal}},
  doi = {10.32614/RJ-2014-007},
  url = {},
  pages = {68--78},
  volume = {6},
  number = {1}