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This wiki is a repository of information about Projective Geometric Algebra, and specifically the four-dimensional Clifford algebra $$\mathcal G_{3,0,1}$$. This is a mathematical model that naturally incorporates representations for Euclidean points, lines, and planes as well as operations for performing rotations, reflections, and translations in a single algebraic structure. It completely subsumes conventional models that include homogeneous coordinates, Plücker coordinates, quaternions, and screw theory (which makes use of dual quaternions). This makes projective geometric algebra a natural fit for areas of computer science that routinely use these mathematical concepts, especially computer graphics and robotics.