Geometric algebras for Euclidean geometry

DOI10.1007/S00006-016-0647-0zbMATH Open1367.15035arXiv1411.6502OpenAlexW164473625MaRDI QIDQ2361027FDOQ2361027

Authors: Charles Gunn 

Publication date: 29 June 2017

Published in: Advances in Applied Clifford Algebras (Search for Journal in Brave)

Abstract: The discussion of how to apply geometric algebra to euclidean $n$-space has been clouded by a number of conceptual misunderstandings which we first identify and resolve, based on a thorough review of crucial but largely forgotten themes from $19^{th}$ century mathematics. We then introduce the dual projectivized Clifford algebra $mathbfP(mathbb{R}_{n,0,1}^{\ast })$ (euclidean PGA) as the most promising homogeneous (1-up) candidate for euclidean geometry. We compare euclidean PGA and the popular 2-up model CGA (conformal geometric algebra), restricting attention to flat geometric primitives, and show that on this domain they exhibit the same formal feature set. We thereby establish that euclidean PGA is the smallest structure-preserving euclidean GA. We compare the two algebras in more detail, with respect to a number of practical criteria, including implementation of kinematics and rigid body mechanics. We then extend the comparison to include euclidean sphere primitives. We conclude that euclidean PGA provides a natural transition, both scientifically and pedagogically, between vector space models and the more complex and powerful CGA.

Full work available at URL: https://arxiv.org/abs/1411.6502

Recommendations

• scientific article; zbMATH DE number 3125713
• scientific article; zbMATH DE number 3947245
• Geometric algebra in linear algebra and geometry
• Geometric algebra and orthogonal geometries
• scientific article; zbMATH DE number 688043
• Geometric algebra for combinatorial geometries
• The geometric associative algebras of Euclidean space
• scientific article; zbMATH DE number 970374
• Geometric algebra for conics

zbMATH Keywords

metric geometryEuclidean geometrykinematicsdualityprojective geometrydegenerate metrichomogeneous modelconformal geometric algebradual quaternionsrigid body motionbiquaternionsCayley-Klein constructiondual exterior algebraprojective geometric algebra

Mathematics Subject Classification ID

General theory of linear incidence geometry and projective geometries (51A05) Free motion of a rigid body (70E15) Exterior algebra, Grassmann algebras (15A75) Clifford algebras, spinors (15A66) Kinematics of a rigid body (70B10)

Cites Work

• Geometric Fundamentals of Robotics
• Guide to Geometric Algebra in Practice
• New tools for computational geometry and rejuvenation of screw theory
• Title not available (Why is that?)
• Tutorial appendix: Structure preserving representation of Euclidean motions through conformal geometric algebra
• Invariant algebras and geometric reasoning
• Geometric algebra with applications in engineering
• Projective geometry with Clifford algebra
• Multilinear Algebra
• On the homogeneous model of Euclidean geometry
• Projective geometry and Cayley-Klein geometries of the plane
• Title not available (Why is that?)
• Title not available (Why is that?)
• Title not available (Why is that?)
• Title not available (Why is that?)
• Rigid body dynamics and conformal geometric algebra
• Total least squares fitting of \(k\)-spheres in \(n\)-D Euclidean space using an \((n+2)\)-D isometric representation
• Motor algebra approach for computing the kinematics of robot manipulators

Cited In (23)

• On some Lie groups in degenerate Clifford geometric algebras
• Geometric algebras for uniform colour spaces
• Connections between matrix products for 3-vectors and geometric algebra
• On the homogeneous model of Euclidean geometry
• Geometric algebra for multidimension-unified geographical information system
• Digital geometry from a geometric algebra perspective
• Fundamentals of quaternionic kinematics in Euclidean 4-space
• Modeling 3D geometry in the Clifford algebra \(\mathbb R(4,4)\)
• An extended implementation framework for geometric algebra operations on systems of coordinate frames of arbitrary signature
• Bézier motions with end-constraints on speed
• High-order inverse dynamics of serial robots based on projective geometric algebra
• Physical geometry by plane-based geometric algebra
• A note on centralizers and twisted centralizers in Clifford algebras
• Geometric algebra of singular ruled surfaces
• Doing Euclidean plane geometry using projective geometric algebra
• Geometric algebra for conics
• Tutorial appendix: Structure preserving representation of Euclidean motions through conformal geometric algebra
• Projective geometric algebra as a subalgebra of conformal geometric algebra
• Projective metric geometry and Clifford algebras
• A 1d up approach to conformal geometric algebra: applications in line fitting and quantum mechanics
• Title not available (Why is that?)
• Fitting a planar quadratic slerp motion
• On some Lie groups in degenerate geometric algebras

This page was built for publication: Geometric algebras for Euclidean geometry

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2361027)