On the Homogeneous Model of Euclidean Geometry

Abstract

We attach the degenerate signature (n,0,1) to the dual Grassmann algebra of projective space to obtain a real Clifford algebra which provides a powerful, efficient model for Euclidean geometry. We avoid problems with the degenerate metric by constructing an algebra isomorphism between the Grassmann algebra and its dual that yields non-metric meet and join operators. We focus on the cases of n=2 and n=3 in detail, enumerating the geometric products between k-blades and m-blades. We identify sandwich operators in the algebra that provide all Euclidean isometries, both direct and indirect. We locate the spin group, a double cover of the direct Euclidean group, inside the even subalgebra of the Clifford algebra, and provide a simple algorithm for calculating the logarithm of group elements. We conclude with an elementary account of Euclidean kinematics and rigid body motion within this framework.

Keywords

Ideal Point Euclidean Geometry Clifford Algebra Rigid Body Motion Inertia Tensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  1. 1.DFG-Forschungszentrum Matheon, MA 8-3Technisches Universität BerlinBerlinGermany

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