Install rgeos package in MacOSX

First you must install gdal library:
Load GDAL Complete at this link. Use the two installers present in that folder.

Then enter in terminal:

# this is optional if you have done it already. Check with
# cat ~/.profile
sudo echo  'export PATH=/Library/Frameworks/GDAL.framework/Programs:$PATH' >> ~/.profile
export PATH=/Library/Frameworks/GDAL.framework/Programs:$PATH

cd ~/Downloads/
curl -O https://cran.r-project.org/src/contrib/rgeos_0.3-23.tar.gz

 R CMD INSTALL ~/Downloads/rgeos_0.3-23.tar.gz --configure-args='--with-geos-config=/Library/Frameworks/GEOS.framework/unix/bin/geos-config'

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