Take a look at Klein : https://www.jeremyong.com/klein/ https://www.jeremyong.com/klein/ (arm implementation is coming) Its geometric product between motors is

Take a look at Klein : https://www.jeremyong.com/klein/ https://www.jeremyong.com/klein/ (arm implementation is coming) Its geometric product between motors is the equivalent of the 4x4 matrix product. Although the basic computational complexity tells the story : 4x4 matrix product : 16 floats storage, 64 multiplies, 48 additions. 3D PGA versor product : 8 floats storage, 48 multiplies, 40 additions.