Without having the benefit of looking at your data, I would say the following:
1. I would skip the step of converting your .vcf to a FASTA
2. rad_haplotyper is useful because it combines SNPs rather than eliminates them when they are located on the same contig. However I wonder if you aren't losing some loci this way when one SNP or the other is "missing", meaning that the whole locus is "missing" for an individual
3. You can read a .vcf file into R with the command read.vcfR() found in the R package "vcfR"
4. Once you have your data read into R, a good package to do some downstream analysis is "Adagenet". You can convert to Adagenet by using the vcfR function vcfR2genind(), assuming both vcfR and Adagenet are installed.
5. A genind object in Adagenet can be converted to Structure format using a number of R hacks that can be googled
R is probably the best environment to convert your filtered .vcf file into formats that can be used for downstream analysis.