rotations version 1.2
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New Features -
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* Proposal central orientation parameter values are now drawn from the distribution specified by the `type` argument in all of the Bayesian functions
Minor Changes -
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* Sampling from the von Mises Fisher and matrix Fisher distributions is now done in C++ resulting in a significant speed up
* `method` argument in `regions` function was changed from `trans` to `transformation`, a call to `match.arg()` still allows for `trans`
* `type` argument in `regions` function has been changed from `theory` to `asymptotic`
Bug Fixes -
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* A typo in the (not run) Bayes credible region example has been fixed
* `print` method for `Q4` objects now respects the `digits` option
rotations version 1.1
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New Features -
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* The argument `interactive' has been added to `plot.SO3' and `plot.Q4' which, when set to `TRUE', creates a sphere in 3D using `rgl' that can be manipulated by the user
Minor Changes -
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* The options for the `method` argument of the `region` functions have been changed to `"trans"` and `"direct"` to align with the current names in my dissertation. `"trans"` is short for "transformation," which is used to access the methods based on a transformation of a directional statistics result while `"direct"` is used for the methods that rely on theory for SO(3) directly.
rotations version 1.0
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New Features -
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* Vignette added that introduces the package
* Create a `plot.Q4` function that uses `plot.SO3` after casting the object to class `SO3`
Bug Fixes -
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* Updated Bayes sampling method to avoid seg faults
Major Changes -
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* The functions `SO3` and `Q4` have been deprecated. All of their functionality has been moved to `as.SO3` and `as.Q4`
* `angle` and `axis` have been renamed `mis.angle` and `mis.axis`, respectively, to avoid naming clashes with the `graphics` package
* The `period.sep` naming convention has been adopted for all functions in package. The functions formerly known as `sum_dist`, `exp_skew`, `cayley_kappa`, `fisher_kappa` and `vmises_kappa` are now called `rotdist.sum`, `skew.exp`, `cayley.kappa`, `fisher.kappa` and `vmises.kappa`, respectively.
* `dist` renamed to `rot.dist` to avoid clashes with `stats` package
Minor Changes -
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* Fixes in documentation for Bayes point estimation
* `print.Q4` and `print.SO3` no longer print the object class
* `print.SO3` now names the columns `R11` through `R33` to signify which element in the matrix each row corresponds to
* `is.SO3` more rigorously tests for conditions of `SO3`
* Arithmetic for `SO3` objects now is possible for samples of rotations
rotations version 0.2
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Changes -
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* Multiple columns can be supplied to `col` in `plot` via grid.arrange. Each requested column is identified by its axis and one legend is printed when applicable. For example `col=c(1,3)` will print two labelled eyeballs, one for the x- and one for the z-axis.
* Quaternions are only unique up to their sign, that is if q is a quaternion the q=-q. So `==` has be redefined such that `q==-q` will return `TRUE`.
* In 'dist' the 'method' argument now accepts the option 'extrinsic' and returns the same result had the 'projected' option been used.
New Features -
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* The `'['` operator has been redefined to maintain the `SO3` or `Q4` class of the object.
* Addition `+` and subtraction `-` have been redefined for the multiplicative group SO(3). That is, for R1 and R2 in SO(3), R1+R2=R2R1, R1-R2=R2'R1 and -R1=R1'. Similarly for quaternions.
* The `head` and `str` functions have been modified to properly handle objects of class `'SO3'` and `'Q4'`.
* Functions for Bayesian analysis
* Each of the following functions requires the user to supply `type`, `tuneS`, `tuneK`, `burnin` and `B`. These arguments determine the transition probability form, tuning parameters for the central orientation, concentration parameter, burnin for the MCMC and total number of draws from the posterior, respectively. Currently only `'Cayley'`, `'Fisher'` and `'Mises'` are valid options for `type`. See the respective help files for more details.
* The function `MCMCSO3` implements a Gibbs-within-MCMC algorithm to get draws from the posterior distributions for the concentration parameter $S$ and concentration parameter $\kappa$. A list of four items is returned: `S` is a B-by-p matrix where each row corresponds to a draw from the posterior for the central orientation S, `kappa` is a vector of B draws from the posterior for the concentration parameter $\kappa$ and the transition probabilities for the central orientation and concentration are given by `Saccept` and `Kaccept`,respectively.
* Bayesian point estimates for the central orientation and concentration parameter are given by `bayes.mean`.
* Bayesian credible regions have been added to the `region` by setting `method='Bayes'`.
rotations version 0.1
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* First CRAN release