Euclidean group ($E(n)$)

The Euclidean group $E(n)=O(n)⋉{\mathbb{R}}^n$ is the group of all isometries $x\mapsto Ax+b$ of Euclidean space, with $A$ an orthogonal matrix. Its orientation-preserving subgroup is $SE(n)=SO(n)⋉{\mathbb{R}}^n$, the semidirect product of the special orthogonal group with translations. The Euclidean motion of Euclidean three-space and the proper Euclidean motion of Euclidean three-space are the respective three-dimensional instances.