You can also extract the centroids of SpatialPolygons* objects using coordinates , although centroids will not return as SpatialPoints , as in rgeos::gCentroid .
For instance:
library(rgdal) download.file('http://dds.cr.usgs.gov/pub/data/nationalatlas/countyp020_nt00009.tar.gz', f <- tempfile())
Note that, as @Spacedman points out in the comments, polygons must first be projected onto a flat coordinate system.
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