Function composition in the context of Special orthogonal group

In group theory, the symmetry group of a geometric object is the group of all transformations under which the object is invariant, endowed with the group operation of composition. Such a transformation is an invertible mapping of the ambient space which takes the object to itself, and which preserves all the relevant structure of the object. A frequent notation for the symmetry group of an object X is G = Sym(X).

For an object in a metric space, its symmetries form a subgroup of the isometry group of the ambient space. This article mainly considers symmetry groups in Euclidean geometry, but the concept may also be studied for more general types of geometric structure.

In mathematics, a group action of a group ${\displaystyle G}$ on a set ${\displaystyle S}$ is a group homomorphism from ${\displaystyle G}$ to some group (under function composition) of functions from ${\displaystyle S}$ to itself. It is said that ${\displaystyle G}$ acts on ${\displaystyle S}$.

Many sets of transformations form a group under function composition; for example, the rotations around a point in the plane. It is often useful to consider the group as an abstract group, and to say that one has a group action of the abstract group that consists of performing the transformations of the group of transformations. The reason for distinguishing the group from the transformations is that, generally, a group of transformations of a structure acts also on various related structures; for example, the above rotation group also acts on triangles by transforming triangles into triangles.

In mathematics, a transformation, transform, or self-map is a function f, usually with some geometrical underpinning, that maps a set X to itself, i.e. f: X → X.Examples include linear transformations of vector spaces and geometric transformations, which include projective transformations, affine transformations, and specific affine transformations, such as rotations, reflections and translations.

Rotation in mathematics is a concept originating in geometry. Any rotation is a motion of a certain space that preserves at least one point. It can describe, for example, the motion of a rigid body around a fixed point. Rotation can have a sign (as in the sign of an angle): a clockwise rotation is a negative magnitude so a counterclockwise turn has a positive magnitude.A rotation is different from other types of motions: translations, which have no fixed points, and (hyperplane) reflections, each of them having an entire (n − 1)-dimensional flat of fixed points in a n-dimensional space.

Mathematically, a rotation is a map. All rotations about a fixed point form a group under composition called the rotation group (of a particular space). But in mechanics and, more generally, in physics, this concept is frequently understood as a coordinate transformation (importantly, a transformation of an orthonormal basis), because for any motion of a body there is an inverse transformation which if applied to the frame of reference results in the body being at the same coordinates. For example, in two dimensions rotating a body clockwise about a point keeping the axes fixed is equivalent to rotating the axes counterclockwise about the same point while the body is kept fixed. These two types of rotation are called active and passive transformations.

In mathematics, a bijection, bijective function, or one-to-one correspondence is a function between two sets such that each element of the second set (the codomain) is the image of exactly one element of the first set (the domain). Equivalently, a bijection is a relation between two sets such that each element of either set is paired with exactly one element of the other set.

A function is bijective if it is invertible; that is, a function ${\displaystyle f:X\to Y}$ is bijective if and only if there is a function ${\displaystyle g:Y\to X,}$ the inverse of f, such that each of the two ways for composing the two functions produces an identity function: ${\displaystyle g(f(x))=x}$ for each ${\displaystyle x}$ in ${\displaystyle X}$ and ${\displaystyle f(g(y))=y}$ for each ${\displaystyle y}$ in ${\displaystyle Y.}$

In mathematics, a differentiable manifold (also differential manifold) is a type of manifold that is locally similar enough to a vector space to allow one to apply calculus. Any manifold can be described by a collection of charts (atlas). One may then apply ideas from calculus while working within the individual charts, since each chart lies within a vector space to which the usual rules of calculus apply. If the charts are suitably compatible (namely, the transition from one chart to another is differentiable), then computations done in one chart are valid in any other differentiable chart.

In formal terms, a differentiable manifold is a topological manifold with a globally defined differential structure. Any topological manifold can be given a differential structure locally by using the homeomorphisms in its atlas and the standard differential structure on a vector space. To induce a global differential structure on the local coordinate systems induced by the homeomorphisms, their compositions on chart intersections in the atlas must be differentiable functions on the corresponding vector space. In other words, where the domains of charts overlap, the coordinates defined by each chart are required to be differentiable with respect to the coordinates defined by every chart in the atlas. The maps that relate the coordinates defined by the various charts to one another are called transition maps.

In mathematics, an isometry (or congruence, or congruent transformation) is a distance-preserving transformation between metric spaces, usually assumed to be bijective. The word isometry is derived from the Ancient Greek: ἴσος isos meaning "equal", and μέτρον metron meaning "measure". If the transformation is from a metric space to itself, it is a kind of geometric transformation known as a motion.

In mathematics, an expression or formula (including equations and inequalities) is in closed form if it is formed with constants, variables, and a set of functions considered as basic and connected by arithmetic operations (+, −, ×, /, and integer powers) and function composition. Commonly, the basic functions that are allowed in closed forms are nth root, exponential function, logarithm, and trigonometric functions. However, the set of basic functions depends on the context. For example, if one adds polynomial roots to the basic functions, the functions that have a closed form are called elementary functions.

In computability theory, the Church–Turing thesis (also known as computability thesis, the Turing–Church thesis, the Church–Turing conjecture, Church's thesis, Church's conjecture, and Turing's thesis) is a thesis about the nature of computable functions. It states that a function on the natural numbers can be calculated by an effective method if and only if it is computable by a Turing machine. The thesis is named after American mathematician Alonzo Church and the British mathematician Alan Turing. Before the precise definition of computable function, mathematicians often used the informal term effectively calculable to describe functions that are computable by paper-and-pencil methods. In the 1930s, several independent attempts were made to formalize the notion of computability:

• In 1933, Kurt Gödel, with Jacques Herbrand, formalized the definition of the class of general recursive functions: the smallest class of functions (with arbitrarily many arguments) that is closed under composition, recursion, and minimization, and includes zero, successor, and all projections.
• In 1936, Alonzo Church created a method for defining functions called the λ-calculus. Within λ-calculus, he defined an encoding of the natural numbers called the Church numerals. A function on the natural numbers is called λ-computable if the corresponding function on the Church numerals can be represented by a term of the λ-calculus.
• Also in 1936, before learning of Church's work, Alan Turing created a theoretical model for machines, now called Turing machines, that could carry out calculations from inputs by manipulating symbols on a tape. Given a suitable encoding of the natural numbers as sequences of symbols, a function on the natural numbers is called Turing computable if some Turing machine computes the corresponding function on encoded natural numbers.

Church, Kleene, and Turing proved that these three formally defined classes of computable functions coincide: a function is λ-computable if and only if it is Turing computable, and if and only if it is general recursive. This has led mathematicians and computer scientists to believe that the concept of computability is accurately characterized by these three equivalent processes. Other formal attempts to characterize computability have subsequently strengthened this belief (see below).

In mechanics and geometry, the 3D rotation group, often denoted SO(3), is the group of all rotations about the origin of three-dimensional Euclidean space ${\displaystyle \mathbb {R} ^{3}}$ under the operation of composition.

By definition, a rotation about the origin is a transformation that preserves the origin, Euclidean distance (so it is an isometry), and orientation (i.e., handedness of space). Composing two rotations results in another rotation, every rotation has a unique inverse rotation, and the identity map satisfies the definition of a rotation. Owing to the above properties (along composite rotations' associative property), the set of all rotations is a group under composition.

In mathematics, the isometry group of a metric space is the set of all bijective isometries (that is, bijective, distance-preserving maps) from the metric space onto itself, with the function composition as group operation. Its identity element is the identity function. The elements of the isometry group are sometimes called motions of the space.

Every isometry group of a metric space is a subgroup of isometries. It represents in most cases a possible set of symmetries of objects/figures in the space, or functions defined on the space. See symmetry group.

In mathematics, the automorphism group of an object X is the group consisting of automorphisms of X under composition of morphisms. For example, if X is a finite-dimensional vector space, then the automorphism group of X is the group of invertible linear transformations from X to itself (the general linear group of X). If instead X is a group, then its automorphism group ${\displaystyle \operatorname {Aut} (X)}$ is the group consisting of all group automorphisms of X.

Especially in geometric contexts, an automorphism group is also called a symmetry group. A subgroup of an automorphism group is sometimes called a transformation group.

In mathematics, an action of a group ${\displaystyle G}$ on a set ${\displaystyle S}$ is, loosely speaking, an operation that takes an element of ${\displaystyle G}$ and an element of ${\displaystyle S}$ and produces another element of ${\displaystyle S.}$ More formally, it is a group homomorphism from ${\displaystyle G}$ to the automorphism group of X (the set of all bijections on ${\displaystyle X}$ along with group operation being function composition). One says that ${\displaystyle G}$ acts on ${\displaystyle S.}$

Many sets of transformations form a group under function composition; for example, the rotations around a point in the plane. It is often useful to consider the group as an abstract group, and to say that one has a group action of the abstract group that consists of performing the transformations of the group of transformations. The reason for distinguishing the group from the transformations is that, generally, a group of transformations of a structure acts also on various related structures; for example, the above rotation group also acts on triangles by transforming triangles into triangles.