A based loop is a continuous map with . Two loops are equivalent when they are joined by a homotopy that keeps both endpoints at . The fundamental group is the set of these based-homotopy classes.
For loops and , define concatenation byIf and are based homotopies from to and from to , concatenating and gives a based homotopy from to . Thus multiplication is well-defined.
Concatenating three paths with different breakpoints changes only the speed of traversal. Linear interpolation between the two increasing piecewise-linear parametrizations gives a based homotopy, proving associativity on classes. The constant loop is an identity, since deleting its stationary half is another endpoint-fixing reparametrization. The inverse of is represented by . Indeed, contracts throughand the analogous contraction handles . Hence the operation satisfies all group axioms.
Use the continuous determinant mapIt induces a homomorphism on fundamental groups. Under the standard identificationthe class of corresponds to its winding number . Sincewe obtainFor this is not the identity, so could not have been the identity in .
Besides concatenation , loops in have pointwise multiplicationContinuity of matrix multiplication makes this a loop, and pointwise multiplication of homotopies shows that it is well-defined on homotopy classes. Both operations have the constant loop as identity, and they satisfy the interchange law
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