how to impute genetic position of SNPs based on neighboring SNPs genetic positions?

Question

[blacktomato27]

Hi to all I have toy data like this

Marker Centi morgans

SNP1 2

SNP2 3.8

SNP3

SNP4 4.7

SNP5 6.2

Now i would like to know or impute genetic position of SNP3 based other SNPs (SNP1,2,4 and 5) genetic positions. i knew some algorithm like MICE and other but i am wondering they give imputation based on average value. can any one help me in form of R package to impute genetic position? any help in this regard is highly appreciated. Thanks in advance