maptools: Test if point is in polygon

In R's maptools package, is there a built-in function to test if a
given point is "inside" a given polygon on the map?  The map was
loaded from an ESRI Shapefile. The point's latitude and longitude are
known.

Thank you!

Aleks

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Aleksandr Andreev
Fulbright Fellow
Graduate School of Management
St Petersburg State University