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GABLE: Geometric Algebra Learning Environment. Leo Dorst and Stephen Mann. Goals 2nd year tutorial Graphical GABLE Matlab 3D. Geometric Algebra. Geometric algebra is an algebra of subspaces spanning subspaces using outer product projection of subspaces using inner product

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gable geometric algebra learning environment

GABLE: Geometric Algebra Learning Environment

Leo Dorst and Stephen Mann

Goals

  • 2nd year tutorial
  • Graphical

GABLE

  • Matlab
  • 3D

http://www.science.uva.nl/~leo/clifford/gable.html

geometric algebra
Geometric Algebra

Geometric algebra is an algebra of subspaces

  • spanning subspaces using outer product
  • projection of subspaces using inner product
  • ratio of subspaces using geometric product
  • intersection/union of subspaces using meet/join

Course 31. Geometric Algebra: GABLE

vectors
Vectors
  • Start with vector space V
  • Standard vector operations
  • Create vectors relative to coordinate frame
  • Manipulate without coordinates

GAD(1)

Course 31. Geometric Algebra: GABLE

spanning subspaces
Spanning subspaces
  • Span subspaces using outer product of vectors

a ^b

  • Anti-symmetric, linear, associative
  • Related to cross-product
  • Outer product of k vectors gives k-blade

GAD(2)

Course 31. Geometric Algebra: GABLE

elements of geometric algebra
Elements of geometric algebra
  • k-blades are basic elements of computation
  • Blades form a linear space
  • {1, e1, e2, e3, e1^e2, e2^e3, e3^e1, e1^e2^e3}
    • {e1, e2, e3} form vector basis
    • {e1^e2, e2^e3, e3^e1} form 2-blade basis

Course 31. Geometric Algebra: GABLE

outer product
Outer product

Characterizes a k -dimensional subspace

  • dimensionality (grade)
  • attitude (stance, direction)
  • sense (left/right handed, (anti-) clockwise)
  • magnitude

It is not specific on shape

Course 31. Geometric Algebra: GABLE

vectors in a subspace
Vectors in a subspace

GAD(3)

  • Pseudoscalar: n-blade in n-space
  • I3 in GABLE
  • Vector v in subspace A

v ^A = 0

  • And almost in A when v ^A is small

GAD(4)

Course 31. Geometric Algebra: GABLE

the inner product
The inner product
  • a •b is part of b perpendicular to a
  • Inner product of two of same grade is scalar
  • Inner product on vectors is dot product
  • Inner product of different grades
  • “Remove” lower grade from higher grade

GAD(5)

Course 31. Geometric Algebra: GABLE

duality
Duality
  • All elements have duals
  • Dual(b): b •I3
  • Tangent plane
  • 2-blade vs normal vector: duals

GAD(6)

Course 31. Geometric Algebra: GABLE

inner and outer products
Inner and outer products
  • Given: a, x •a, x ^a
  • Compute x

a

x ^a

x •a

Course 31. Geometric Algebra: GABLE

the geometric product
The geometric product
  • Geometric product of vectors a,b :

ab = a •b + a ^b

  • a,b vectors is a scalar+bivector (!)
  • Can be extended to bivectors, etc.
  • Linear, associative

GAD(7)

Course 31. Geometric Algebra: GABLE

division
Division
  • Non-null geometric elements have inverses
  • In expression ab, can multiply by inverse of b to get a
  • Will use ‘/’ to denote right multiplication by inverse

Course 31. Geometric Algebra: GABLE

projection and rejection
Projection and rejection
  • Use geometric product to decompose:
    • x = (xa)/a
    • = (x•a)/a + (x^a)/a
    • = (x•e)/e + (x^e)/e = (x•e) e + (x^e) e
  • where e is unit vector in direction of a
  • First term is projection of x onto e
  • Second term is rejection of x by e

GAD(8)

Course 31. Geometric Algebra: GABLE

rotations as ratios

c

b

a

x?

Rotations as ratios
  • x is to c as b is to a

x/c = b/a

  • Solution: x = (b/a)c
  • b/a is an operator that rotates/dilates

GAD(9)

Course 31. Geometric Algebra: GABLE

complex form of rotation
Complex form of rotation
  • Pure rotation: ratio of unit vectors v and u. For x in (u,v)-plane with unit bivector i :
    • Rx = (v/u)x = (vu)x = (v•u + v^u) x
      • = (v•u - u^v) x = (cos f - i sin f) x
  • Since ii = -1, we can write this as
    • Rx = e-ifx
  • Bivector angle if: rotation plane and amount!

Course 31. Geometric Algebra: GABLE

rotor representation of rotations
Rotor representation of rotations
  • General x (not necessarily in i-plane), only component in i should be rotated. Done by:

Rx = e-if/2x eif/2 = Rx/R Rotation fully characterized by rotorR.

  • Product of rotations: product of rotors R2R1x = R2(R1x/R1)/R2 = (R2R1)x /(R2R1)

GAD(10)

Course 31. Geometric Algebra: GABLE

quaternions are subsumed
Quaternions are subsumed

GAD(11)

  • In 3-space, for rotation with rotation axisn = n1e1 + n2e2 + n3e3 = -i I3
  • we can rewrite R =e-I3nf/2= cos(f/2) - sin(f/2) I3n = cos(f/2) - (i n1 + j n2 + k n3) sin (f/2)
  • on the bivector basisi=I3e1, j = I3e2, k = I3e3which satisfies ii=jj=kk=ijk=-1, ji=k, etc.
  • So quaternions subsumed:
    • Can act directly on vectors.

Course 31. Geometric Algebra: GABLE

rotation orientation interpolation
Rotation/orientation interpolation
  • Given: two orientations RA, RB represented as rotations
  • Find: intermediate orientations

R0=RA; Ri+1=RRi; Rn=RB

GAD(12)

Course 31. Geometric Algebra: GABLE

homogeneous model
Homogeneous model
  • Get affine/homogeneous spaces by using one dimension for “point at zero”
    • Point: P =e+p, suchthat e•p=0
    • Vector: v, suchthat e•v=0
    • Tangentplane: bivector B, e•B=0 (not a normal!)
    • Line: point P, point Q : P ^Q = (e+p) ^(q-p)
    • Line: direction v, point P : P ^v = (e+p) ^v

GAD(13)

Course 31. Geometric Algebra: GABLE

meet and join
Meet and join
  • Homogeneous line intersection requires blade intersection: meet(A,B)
  • Dual operations, join(A,B), spans lowest grade superspace of A and B

GAD(14)

Course 31. Geometric Algebra: GABLE

euclidean geometry
Euclidean geometry
  • Pappus’ theorem
    • Given two lines and three points on each line
    • Then the three intersections of cross-joined lines are colinear

GAD(15)

Course 31. Geometric Algebra: GABLE

summary
Summary
  • Higher dimensional subspaces are basic elements of computation
  • Geometric product
  • Inverses
  • Extends homogeneous coordinates

http://www.science.uva.nl/~leo/clifford/gable.html

http://www.cgl.uwaterloo.ca/~smann/GABLE/

Course 31. Geometric Algebra: GABLE