We’ll now turn from the general theory to examine a specific class class of groups: the orthogonal groups. Recall that O(n,R) is the group of n by n orthogonal matrices (the group preserving the standard inner product on R). This group has two components, with the component of the identity SO(n,R), the orthogonal matrices of determinant 1. We’ll mostly restrict attention to SO(n,R). An importan...