Geometric Foundations for Symbolic Computation

Contents:

• Motivation and connection to other courses.
• Introduction to Euclidean and non-Euclidean geometry.
• Data structures for geometry (DCEL, balanced binary trees, AVL-trees).
• Representation of positions (Euler-angle, Roll-Pitch-Yaw-angle, Homogeneous coordinates, Denavit-Hartenberg parameters, Translation/Rotation).
• Affine geometry, projective geometry.
• Central projection, stereographic projection.

Relevant literature:

• P.J.Ryan: `Euclidean and Non-Euclidean Geometry - An Analytic Approach'.