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Embedding R in Windows applications, and executing R remotely

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Orientlib: Us<strong>in</strong>g S Version 4 Objects<br />

D.J. Murdoch ∗<br />

April 15, 2004<br />

Abstract<br />

R supports two systems of object oriented programm<strong>in</strong>g. The S<br />

version 3 objects work by a nam<strong>in</strong>g convention. Chambers (1998)<br />

<strong>in</strong>troduced the S version 4 object system. Here a registration system<br />

connects objects to their methods. In this presentation, I will describe<br />

Orientlib, an R package us<strong>in</strong>g S version 4 objects.<br />

Orientlib (JSS, 2003) is an R package to facilitate work<strong>in</strong>g with<br />

orientation data, i.e. elements of SO(3). It provides automatic translation<br />

between different representations of orientations, <strong>in</strong>clud<strong>in</strong>g rotation<br />

matrices, quaternions, Euler angles <strong>and</strong> skew-symmetric matrices;<br />

it also has functions for fitt<strong>in</strong>g regression models <strong>and</strong> display<strong>in</strong>g orientations.<br />

This presentation reviews simple properties of orientation<br />

data <strong>and</strong> describes Orientlib.<br />

Keywords: S version 4 objects, SO(3), orientation data, Euler angles,<br />

quaternions, rotation matrices<br />

∗ University of Western Ontario<br />

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