... Tasks which compute sky coordinates of events (x-ray or optical photons) which are detected on one of the XMM cameras must take account of the fact that the attitude of the spacecraft (ie its direction of point and its roll angle) are not exactly constant during an exposure. ... The job of the present task is to generate an attitude time series, with variable bin duration, which has the property that, within any given bin, the attitude does not vary outside preset limits (section 3.2 ). ...