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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.

A Euclidean motion has the form $E(x)=Ax+b$ with $A\in O(3)$. It preserves Euclidean distance, angles, and all extrinsic geometric quantities transformed with their orientations.

This is the dimension-three case $E(3)=O(3)⋉{\mathbb{R}}^3$ of the Euclidean group.

The displayed matrices describe the orientation-preserving component $SE(2)$ of the full Euclidean group $E(2)=O(2)⋉{\mathbb{R}}^2$. Both have the same Lie algebra, so this naming convention does not affect the calculation. Choose the translation generators $P_1,P_2$ and rotation generator $J$ in the Lie algebra of this Matrix Lie group asTaking matrix commutators givesAll remaining brackets follow from antisymmetry. The corresponding left-invariant vector fields in coordinates $(x,y,\psi )$ areTheir Lie brackets of vector fields obey the same relations. This also fixes which sign of the rotation generator is being used.

There is an important qualification to the printed connection prescription. For an arbitrary vector field $Z$ and smooth function $f$, its literal right-hand side obeysAn affine connection instead requires ${\nabla }_{L_i}(fZ)=L_i(f)Z+f{\nabla }_{L_i}Z$. Thus the formula for arbitrary $Z$ defines a connection only when $\lambda =1$. For example, at $\psi =0$, take $i=1$, $f=x$ and $Z=L_1$: the erroneous formula gives $\lambda L_1$, whereas the Leibniz rule requires $L_1$.

The intended one-parameter family is the bracket connection on a Lie group: prescribe the rule for left-invariant $Z$, then extend it by the Leibniz rule. If $[L_i,L_j]=c_{ij}{}^k{L}_k$, this meansExtend linearly over functions in the first slot. This is a well-defined affine connection for every real $\lambda$. The following Ricci tensor calculation applies to this intended family; under the literal arbitrary-$Z$ reading only its $\lambda =1$ member exists.

Use the curvature conventionFor left-invariant vector fields the structure constants of a Lie algebra are constant. The Jacobi identity givesWriting $A=\lambda (\lambda -1)$, the only nonzero curvature actions, apart from antisymmetry in the first two slots, areFor instance, $[[J,P_1],J]=[P_2,J]=P_1$. Contracting the first and output slots gives $\mathrm{Ric}(L_3,L_3)=-2A$, while every other component vanishes. Equivalently, $[[Z,X],Y]={\mathrm{ad}}_Y{\mathrm{ad}}_{X}Z$, soThis is the Killing form. Here ${\mathrm{ad}}_J$ rotates the two-dimensional translation space and vanishes on $J$, so $B(J,J)=-2$; translation generators give all other components zero. ThereforeSince the coframe component dual to $L_3$ is $d\psi$, the same Ricci tensor is $2\lambda (1-\lambda )d\psi \otimes d\psi$ in these coordinates. Reversing the curvature convention reverses this sign.

At both $\lambda =0$ and $\lambda =1$, the full curvature vanishes. At $\lambda =0$, the left-invariant vector fields form a global parallel frame. At $\lambda =1$, every right-invariant vector field is parallel because left- and right-invariant vector fields commute; the connection is flat in that global parallel frame. Flatness does not imply zero torsion: for left-invariant arguments the torsion tensor isThus the two endpoint connections are flat, with opposite nonzero torsion. For comparison, $\lambda =1/2$ is torsion-free but has nonzero curvature, with ${\mathrm{Ric}}_{33}=1/2$. No metric has been specified, so these connections should not automatically be identified with a Levi-Civita connection.

A proper Euclidean motion has the form $E(x)=Ax+b$ with $A\in SO(3)$. It preserves lengths, dot products, cross products, orientation, curvature, and torsion.

This is the orientation-preserving subgroup of the three-dimensional Euclidean group.