├── .clang-format ├── .github ├── docker │ └── Dockerfile └── workflows │ └── build.yaml ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── gafro-config.cmake ├── gafro-extras.cmake.in └── gafro-packages.cmake ├── doc ├── CMakeLists.txt └── doxyfile.in ├── package.xml ├── src └── gafro │ ├── CMakeLists.txt │ ├── algebra.hpp │ ├── algebra │ ├── AbstractExpression.hpp │ ├── AbstractExpression.hxx │ ├── AbstractMultivector.hpp │ ├── AbstractMultivector.hxx │ ├── Algebra.hpp │ ├── Assign.hpp │ ├── BinaryExpression.hpp │ ├── Bitset.hpp │ ├── CMakeLists.txt │ ├── Cast.hpp │ ├── CommutatorProduct.hpp │ ├── Conjugate.hpp │ ├── Dual.hpp │ ├── DualPoincare.hpp │ ├── Expression.hpp │ ├── GeometricProduct.hpp │ ├── GeometricProductCayleyTable.hpp │ ├── Grade.hpp │ ├── InnerProduct.hpp │ ├── InnerProductCayleyTable.hpp │ ├── Inverse.hpp │ ├── Metric.hpp │ ├── Multivector.hpp │ ├── Multivector.hxx │ ├── MultivectorMatrix.hpp │ ├── MultivectorMatrix.hxx │ ├── Operators.hxx │ ├── OuterProduct.hpp │ ├── OuterProductCayleyTable.hpp │ ├── Product.hpp │ ├── Reflection.hpp │ ├── Reverse.hpp │ ├── SandwichProduct.hpp │ ├── SharpConjugate.hpp │ ├── Sum.hpp │ ├── TypeTraits.hpp │ ├── UnaryExpression.hpp │ ├── cga │ │ ├── Blades.hpp │ │ ├── CMakeLists.txt │ │ ├── Circle.hpp │ │ ├── Circle.hxx │ │ ├── ConformalGeometricAlgebra.hpp │ │ ├── ConformalTransformation.hpp │ │ ├── ConformalTransformation.hxx │ │ ├── ConformalTransformationExponential.hpp │ │ ├── ConformalTransformationExponential.hxx │ │ ├── ConformalTransformationLogarithm.hpp │ │ ├── ConformalTransformationLogarithm.hxx │ │ ├── Dilator.hpp │ │ ├── Dilator.hxx │ │ ├── DirectionVector.hpp │ │ ├── DirectionVector.hxx │ │ ├── Line.hpp │ │ ├── Line.hxx │ │ ├── Motor.hpp │ │ ├── Motor.hxx │ │ ├── MotorExponential.hpp │ │ ├── MotorGenerator.hpp │ │ ├── MotorGenerator.hxx │ │ ├── MotorLogarithm.hpp │ │ ├── Plane.hpp │ │ ├── Plane.hxx │ │ ├── Point.hpp │ │ ├── Point.hxx │ │ ├── PointPair.hpp │ │ ├── PointPair.hxx │ │ ├── Rotor.hpp │ │ ├── Rotor.hxx │ │ ├── RotorExponential.hpp │ │ ├── RotorGenerator.hpp │ │ ├── RotorGenerator.hxx │ │ ├── SimilarityTransformation.hpp │ │ ├── SimilarityTransformation.hxx │ │ ├── Sphere.hpp │ │ ├── Sphere.hxx │ │ ├── TangentVector.hpp │ │ ├── TangentVector.hxx │ │ ├── Translator.hpp │ │ ├── Translator.hxx │ │ ├── TranslatorGenerator.hpp │ │ ├── TranslatorGenerator.hxx │ │ ├── Transversion.hpp │ │ ├── Transversion.hxx │ │ ├── Vector.hpp │ │ ├── Vector.hxx │ │ ├── Versor.hpp │ │ └── Versor.hxx │ ├── dqa.hpp │ ├── dqa │ │ ├── CMakeLists.txt │ │ ├── DualQuaternion.hpp │ │ ├── DualQuaternion.hxx │ │ ├── DualQuaternionAlgebra.hpp │ │ ├── Line.hpp │ │ ├── Plane.hpp │ │ └── Point.hpp │ ├── pga.hpp │ └── pga │ │ ├── CMakeLists.txt │ │ ├── Line.hpp │ │ ├── Motor.hpp │ │ ├── Plane.hpp │ │ ├── Point.hpp │ │ └── ProjectiveGeometricAlgebra.hpp │ ├── autodiff.hpp │ ├── control │ ├── AdmittanceController.hpp │ ├── AdmittanceController.hxx │ ├── CMakeLists.txt │ ├── DualArmAbsoluteAdmittanceController.hpp │ ├── DualArmAbsoluteAdmittanceController.hxx │ ├── DualArmAdmittanceController.hpp │ ├── DualArmAdmittanceController.hxx │ ├── DualArmMotorAdmittanceController.hpp │ ├── DualArmMotorAdmittanceController.hxx │ ├── DualArmMotorObjective.hpp │ ├── DualArmMotorObjective.hxx │ ├── HandSphereAdmittanceController.hpp │ ├── LineAdmittanceController.hpp │ ├── LineAdmittanceController.hxx │ ├── LineImpedanceController.hpp │ ├── LineImpedanceController.hxx │ ├── MotorAdmittanceController.hpp │ ├── MotorAdmittanceController.hxx │ ├── PlaneAdmittanceController.hpp │ ├── PlaneAdmittanceController.hxx │ ├── SingleArmMotorObjective.hpp │ ├── SingleArmMotorObjective.hxx │ └── task_space │ │ ├── CMakeLists.txt │ │ ├── CooperativeDualTaskSpace.hpp │ │ ├── CooperativeDualTaskSpace.hxx │ │ ├── CooperativeTaskSpace.hpp │ │ ├── CooperativeTaskSpace.hxx │ │ ├── SingleArmTaskSpace.hpp │ │ ├── SingleArmTaskSpace.hxx │ │ ├── TaskSpace.hpp │ │ └── TaskSpace.hxx │ ├── gafro.hpp │ ├── gafro_package_config.h.in │ ├── groups.hpp │ ├── groups │ ├── CMakeLists.txt │ ├── CliffordGroup.hpp │ ├── CoveringGroup.hpp │ ├── ExponentialMap.hpp │ ├── ExponentialMap.hxx │ ├── Group.hpp │ ├── LieAlgebra.hpp │ ├── LieGroup.hpp │ ├── MatrixLieGroup.hpp │ ├── MatrixLieGroup.hxx │ ├── OrthogonalGroup.hpp │ ├── PinGroup.hpp │ ├── PinGroup.hxx │ ├── SpecialEuclideanGroup.hpp │ ├── SpecialOrthogonalGroup.hpp │ ├── SpinGroup.hpp │ └── Subgroup.hpp │ ├── optimization.hpp │ ├── optimization │ ├── CMakeLists.txt │ ├── SingleManipulatorDualTarget.hpp │ ├── SingleManipulatorMotorCost.hpp │ └── SingleManipulatorTarget.hpp │ ├── physics.hpp │ ├── physics │ ├── AngularVelocity.hpp │ ├── CMakeLists.txt │ ├── Inertia.hpp │ ├── Inertia.hxx │ ├── Twist.hpp │ ├── Twist.hxx │ ├── Wrench.hpp │ └── Wrench.hxx │ ├── probabilistic.hpp │ ├── probabilistic │ ├── CMakeLists.txt │ ├── MultivectorGaussian.hpp │ ├── MultivectorGaussian.hxx │ ├── Point.hpp │ └── Point.hxx │ ├── robot.hpp │ └── robot │ ├── Body.hpp │ ├── Body.hxx │ ├── CMakeLists.txt │ ├── ContinuousJoint.hpp │ ├── ContinuousJoint.hxx │ ├── DualManipulator.hpp │ ├── DualManipulator.hxx │ ├── FixedJoint.hpp │ ├── FixedJoint.hxx │ ├── FreeJoint.hpp │ ├── FreeJoint.hxx │ ├── Hand.hpp │ ├── Hand.hxx │ ├── Humanoid.hpp │ ├── Humanoid.hxx │ ├── Joint.hpp │ ├── Joint.hxx │ ├── KinematicChain.hpp │ ├── KinematicChain.hxx │ ├── Link.hpp │ ├── Link.hxx │ ├── Manipulator.hpp │ ├── Manipulator.hxx │ ├── ParallelKinematicChains.hpp │ ├── PrismaticJoint.hpp │ ├── PrismaticJoint.hxx │ ├── Quadruped.hpp │ ├── Quadruped.hxx │ ├── RevoluteJoint.hpp │ ├── RevoluteJoint.hxx │ ├── System.hpp │ ├── System.hxx │ └── algorithm │ ├── CMakeLists.txt │ ├── ForwardDynamics.hpp │ ├── ForwardKinematics.hpp │ ├── ForwardKinematics.hxx │ ├── InverseDynamics.hpp │ └── InverseDynamics.hxx └── tests ├── CMakeLists.txt ├── algebra ├── CMakeLists.txt ├── Circle.cpp ├── DirectionVector.cpp ├── Line.cpp ├── Motor.cpp ├── MotorGenerator.cpp ├── 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