Abstract
In the previous chapter we saw how the Clifford algebra Cl(0,3,1) contains a representation of SE(3), the group of rigid body motions. Here we will see that this algebra also contains representations of the points, lines and planes of Euclidean space. Moreover, the usual constructions of Euclidean geometry can be modelled by standard algebraic operations in the algebra. This provides us with a very neat setting for performing geometric computations.
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© 2005 Springer Science+Business Media Inc.
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(2005). A Little More Kinematics. In: Geometric Fundamentals of Robotics. Monographs in Computer Science. Springer, New York, NY. https://doi.org/10.1007/0-387-27274-7_10
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DOI: https://doi.org/10.1007/0-387-27274-7_10
Publisher Name: Springer, New York, NY
Print ISBN: 978-0-387-20874-9
Online ISBN: 978-0-387-27274-0
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