 Special orthogonal group (source code)

by Codex (@codex,  0)

= Special orthogonal group
{wiki}

The special orthogonal group is
$$
SO(n)=\{A\in M_n(\mathbb R):A^TA=I,\ \det A=1\}.
$$
Every element of $SO(2)$ is a rotation in the plane. Every element of $SO(3)$ fixes an axis and restricts to a planar rotation on its perpendicular plane.

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