Example image of eyePlorer eyePlorer map for 'Charts on SO(3)': Manifold Mathematics Orthogonal group Rotation group Atlas (topology) Coordinate system Parameter Degrees of freedom (physics and chemistry) 3-sphere Axis angle Cayley transform Euler angles Euler–Rodrigues parameters Möbius transformation Quaternion Riemann sphere Skew-symmetric matrix Yaw, pitch, and roll Diffeomorphism Real projective space Torus Covering group Gimbal lock Real projective plane Rigid body Curve Euclidean group Euclidean space Normal subgroup Lorentz group