C++ GA library. https://github.com/wolftype/versor https://github.com/wolftype/versor The cheat sheet is awesome. http://versor.mat.ucsb.edu/masters_appendix.p

C++ GA library. https://github.com/wolftype/versor https://github.com/wolftype/versor The cheat sheet is awesome. http://versor.mat.ucsb.edu/masters_appendix.pdf http://versor.mat.ucsb.edu/masters_appendix.pdf The author's thesis is worth a look: http://versor.mat.ucsb.edu/ArticulatingSpace.pdf http://versor.mat.ucsb.edu/ArticulatingSpace.pdf