RIGID GEOMETRIC ALGEBRA

Rigid geometric algebra is a mathematical model that naturally incorporates representations for Euclidean points, lines, and planes in 3D space as well as operations for performing rotations, reflections, and translations in a single algebraic structure. It completely subsumes conventional models that include homogeneous coordinates, Plücker coordinates, quaternions, and screw theory (which makes use of dual quaternions). This makes rigid geometric algebra a natural fit for areas of computer science that routinely use these mathematical concepts, especially computer graphics and robotics. Conformal Geometric Algebra (CGA) is a larger algebra that contains the complete RGA and also includes round objects like circles and spheres... Rigid geometric algebra is an area of active research, and new information is frequently being added to this wiki.