waypoints with coordinates in R

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I have a SpatialLineDataFrame with 20 obs. of 4 variables (in WGS84). I want to create waypoints every 10 meters. Every waypoint will has the x y coordinates. I tried to do it manualy like:point_first=SpatialPoints(cbind(x,y))

for the first point but there are many points I want to do so it is not possible to do it that way. I think I need a loop but I don't know how to do it in order to have the coordinates for every waypoint.

Is there any command that I should use?



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