Authors: Robert B. Easter
This book provides an introduction to quaternions and Clifford geometric algebras. Quaternion rotations are covered extensively. A reference manual on the entities and operations of conformal (CGA) and quadric geometric algebras (QGA) is given. The Space-Time Algebra (STA) is introduced and offers an example of its use for special relativity velocity addition. Advanced algebraic techniques for the symbolic expansion of the geometric product of blades is explained with numerous examples.
Comments: 179 Pages. Revision v2 corrects serious errors in v1, sections 2.38 and 2.39.
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