require(rms)
# Estimate 25th percentile of y as a function of x1 and x2
f <- Rq(y ~ rcs(x1, 4) + rcs(x2, 4) + rcs(x1, 4) %ia% rcs(x2, 4), tau=.25)
# rcs = restricted cubic spline, here with 4 default knots
# %ia% = restricted interaction
# To use general interactions (all cross product terms), use:
# f <- Rq(y ~ rcs(x1, 4)*rcs(x2, 4), tau=.25)
anova(f)   # get automatic combined 'chunk' tests: nonlinearity, interaction
# anova also provides the combined test of complexity (nonlin. + interact.)