Poincare algebra

The Poincare algebra is generated by translations $P^{\mu }$ and Lorentz transformations $M^{\mu \nu }$. Its mixed commutator is $[M^{\mu \nu },P^{\rho }]=i({\eta }^{\nu \rho }{P}^{\mu }-{\eta }^{\mu \rho }{P}^{\nu })$.

The Pauli-Lubanski pseudovector is $W_{\mu }={ϵ}_{\mu \nu \rho \sigma }{M}^{\nu \rho }{P}^{\sigma }/2$, up to an overall sign convention. Its square is a Casimir of the Poincare algebra and measures spin in a massive irreducible representation.