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  <H1>2D PGA : 2D Projective Geometric Algebra</H1>
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  Elegant and stable solver for the full IK problem. The exact same method can be used in 3D.<BR><BR><commit_msg>cdn for ace<commit_after><HEAD>
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  <H1>2D PGA : 2D Projective Geometric Algebra</H1>
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  Elegant and stable solver for the full IK problem. The exact same method can be used in 3D.<BR><BR>
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