  Geometric algebra (GA) is a mathematical tool for geometric computing,
providing a framework that allows a unified and compact approach to geometric
relations which in other mathematical systems are typically described using
different more complicated elements. This fact has led to an increasing
adoption of GA in applied mathematics and engineering problems. However, the
scarcity of symbolic implementations of GA and its inherent complexity,
requiring a specific mathematical background, make it challenging and less
intuitive for engineers to work with. This prevents wider adoption among more
applied professionals. To address this challenge, this paper introduces SUGAR
(Symbolic and User-friendly Geometric Algebra Routines), an open-source toolbox
designed for Matlab and licensed under the MIT License. SUGAR facilitates the
translation of GA concepts into Matlab and provides a collection of
user-friendly functions tailored for GA computations, including support for
symbolic operations. It supports both numeric and symbolic computations in
high-dimensional GAs. Specifically tailored for applied mathematics and
engineering applications, SUGAR has been meticulously engineered to represent
geometric elements and transformations within two and three-dimensional
projective and conformal geometric algebras, aligning with established
computational methodologies in the literature. Furthermore, SUGAR efficiently
handles functions of multivectors, such as exponential, logarithmic,
sinusoidal, and cosine functions, enhancing its applicability across various
engineering domains, including robotics, control systems, and power
electronics. Finally, this work includes four distinct validation examples,
demonstrating SUGAR's capabilities across the above-mentioned fields and its
practical utility in addressing real-world applied mathematics and engineering
problems.
