To cite package ‘qsplines’ in publications use:

Laurent S, Geier M (2023). qsplines: Quaternions Splines. R package version 1.0.1, https://github.com/stla/qsplines.

Corresponding BibTeX entry:

  @Manual{,
    title = {qsplines: Quaternions Splines},
    author = {Stéphane Laurent and Matthias Geier},
    year = {2023},
    note = {R package version 1.0.1},
    url = {https://github.com/stla/qsplines},
  }