Identity operator

Compute inertia operator; l.regressive(l x r)

Compute inverse_factor(x) = conj(x) * involute(x) * reverse(x) reverse -> conjugate recursion For many multivectors, this gives: inverse(x) = (

linear algebra based inverse

Solve the quadratic sandwich equation x s ~x = 1 for the unknown x Typically, s here s a Study number encountered in motor normalisation if thi

Reverse the signs on all basis blades

Compute kinetic energy of each body

Compute left complement; d(v) = I * v

Apply a bivector step, or integrated-rate variable, to a body motor state

geometric product with fused output grade restriction

Return callable that performs n newton steps on fn

Create non-degenerate subspace

Move away from the origin

Move away from the origin

Read operator string from disc. If it exists and deviates, thats a problem.

Registers a class to become a pytree node. Treats any class fields as pytree nodes unless they are added to a '__pytree_ignore__' class attribute

Subspace restriction The returned multivector contains all components present in the selected subspace, intersected with the subspace components

Compute right complement; d(v) = v * I

Dual d(x) such that v * d(v) = sign * I where sign = e * ~e and e = v.nondegenerate()

Subspace of multivectors that are self-reverse; that is, x == x.reverse()

Generate the inverse `inv` of a unary operator 'op', such that inv(op(x)) == x

Write operator string to disc

Construct algebra with an added positive and negative dimension;

Relax the constraint set for one step

Find updated motors such that constraint violation between anchors is minimized, in a least-action sense at the end of the timestep dt, balancing

Wrap operator as a flattened scipy linear operator type

Allocation for a set of inputs, with multivector components as last axis, and broadcasting axes on the left

Allocation for a set of inputs, with multivector components as last axis, and broadcasting axes on the left

Constructor that accepts either input subspaces or operators as inputs

Conjugation; or combined reversion and involution

l * r.conjugate()

Scalar division

alternatively: t = (m * ~m.select.rotor()).select.translator()

Apply mixins to a class instance after creation

External forque line on each body, in body local space

Construct algebra using signature description Examples -------- '+++0' constructs the algebra corresponding to 3d PGA

Fusing with scalar negation gives different reduction possibilities

Hitzer factor based inverse

Involution, or blade-negation

l * r.involute()