Category Archives: Lie groups

The Lie bracket is torsion

We start with a Lie group . An element acts on an external vector by . Let be generated by a vector at the identity , . By differentiating, with , the velocity of is This can also be interpreted … Continue reading

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Calculating the Lie algebra of a Lie group

The Lie algebra of a Lie group is the tangent space at the identity. Thus we can compute the Lie algebra by differentiating the Lie group and evaluating the derivative at the identity. Example 1. Let . These are the … Continue reading

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