Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors R package RSpincalc version 1.0.2 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. Software Jose Gama <rxprtgama@gmail.com> Comprehensive R Archive Network (CRAN) Jose Gama [aut, cre], John Fuller [aut, cph], Paolo Leva [aut, cph] GPL (>= 3) 2015-07-17 application/tgz https://CRAN.R-project.org/package=RSpincalc doi:10.32614/CRAN.package.RSpincalc