Journal article, Peer reviewed
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Original versionAdvances in Applied Clifford Algebras. 2018, 28 (2), 1-15. 10.1007/s00006-018-0850-2
In this paper, we consider several parameterizations of rigid transformations using motors in 3-D conformal geometric algebra. In particular, we present parameterizations based on the exponential, outer exponential, and Cayley maps of bivectors, as well as a map based on a first-order approximation of the exponential followed by orthogonal projection onto the group manifold. We relate these parameterizations to the matrix representations of rigid transformations in the 3-D special Euclidean group.