Towards an Integrated Development tool for GA and a symbolic CGA implementation based on CasADi for application in robotics.	

Oliver Rettig -- DHBW-Karlsruhe (Cooperative State University Baden-Württemberg)	
With CasADi a framework for nonlinear optimization, optimal control and model predictive control is available and very popular in robotics research and applications. It employs a very fast acyclic graph modeling structure. The aim of this project is to simplify modelling with geometric algebra (GA) not only in the context of robotics by providing a GA library based on CasADi and by full GA tool integration into the Apache-Netbeans IDE. The latter is an integrated development environment with syntax-highlighting and debugging functionality. The conference contribution will be to present and discuss the current state of the project and the direction of further developments.