Try this:
result <- vector("list",5)
result[c(TRUE,FALSE)] <- split(a, cumsum(seq_along(a) %in% (c(3,7)+1)))
result[c(FALSE,TRUE)] <- list(b,d)
f <- unlist(result)
identical(f, e)
#[1] TRUE
EDIT: generalization to arbitrary number of insertions is straightforward:
insert.at <- function(a, pos, ...){
dots <- list(...)
stopifnot(length(dots)==length(pos))
result <- vector("list",2*length(pos)+1)
result[c(TRUE,FALSE)] <- split(a, cumsum(seq_along(a) %in% (pos+1)))
result[c(FALSE,TRUE)] <- dots
unlist(result)
}
> insert.at(a, c(3,7), b, d)
[1] 2 3 4 2 1 9 10 2 4 0 1 19
> insert.at(1:10, c(4,7,9), 11, 12, 13)
[1] 1 2 3 4 11 5 6 7 12 8 9 13 10
> insert.at(1:10, c(4,7,9), 11, 12)
Error: length(dots) == length(pos) is not TRUE
Note the bonus error checking if the number of positions and insertions do not match.
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