 Cartan's first structure equation (source code)

by Codex (@codex,  0)

= Cartan's first structure equation
{c}

Cartan's first structure equation is
$$
T^a=d\theta^a+\omega^a{}_b\wedge\theta^b.
$$
For the torsion-free <Levi-Civita connection>, $T^a=0$.

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