Hyperbolic plane isometry

cjerdonek authored on Dec. 3, 2020, 12:10 a.m.

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An isometry of the hyperbolic plane is a mapping of the hyperbolic plane to itself that preserves the underlying hyperbolic geometry (e.g. distances and angles). The isometries of the hyperbolic plane form a group under composition. An isometry of the hyperbolic plane can be either orientation-preserving or orientation-reversing. We first discuss orientation-preserving isometries. Orientation-preserving isometries The orientation-preserving isometries of the hyperbolic plane form a subgroup. This subgroup is equal to \(PSL(2, \mathbf{R})\) (e.g. by the latter group's action on the half-plane model of the hyperbolic plane). We will sometimes discuss isometries from the perspective of \(PSL(2, \mathbf{R})\), so for the purposes of this section, we'll assume we have an identification of the group of orientation-preserving isometries with \(PSL(2, \mathbf{R})\). Thus, given an orientation-preserving isometry of the plane, we can view it as an element of \(PSL(2, \mathbf{R})\). We can then choose a matrix \(M\) in \(SL(2, \mathbf{R})\) representing that element. This matrix will be unique up to multiplication by \(-1\). We will call \(M\) a matrix representing the isometry. There are three types of orientation-preserving isometries of the hyperbolic plane: hyperbolic, elliptic, and parabolic. (This terminology can be confusing at first because "hyperbolic isometry" can be used both to mean any isometry of the hyperbolic plane, as well as only those isometries that have hyperbolic type. In general, readers will have to pay attention to the context to know which meaning is being used.) There is also a fourth type of isometry sometimes left out because it is trivial: the identity isometry. Alternatively, the identity isometry can be viewed as a degenerate form of the other three types. Whether an isometry is hyperbolic, elliptic, parabolic, or the identity is invariant under conjugacy in the full group of isometries of the hyperbolic plane. Let \(H\) denote the hyperbolic plane, and let \(\overline{H}\) denote the hyperbolic plane together with its boundary at infinity. One common way to tell the type of an isometry is by the nature and number of its fixed points in \(\overline{H}\). For example, the identity isometry is the unique isometry that fixes all points in \(H\) (as well as in \(\overline{H}\)). We discuss the remaining types below. Hyperbolic isometry A hyperbolic isometry is an orientation-preserving isometry with exactly two fixed points in \(\overline{H}\). These two points will necessarily be in the boundary at infinity. This figure shows an animation of a family of hyperbolic isometries with increasing translation length. Both sides show the same isometries, with the left using the Klein model, and the right using the Poincaré disk model. Along the geodesics, the dots are spaced a distance 0.25 apart in the Klein model, and 0.5 apart in the Poincare disk model. A hyperbolic isometry is sometimes called a "translation." A hyperbolic isometry fixes as a set the geodesic connecting its two fixed points. It translates all points in this geodesic by a common distance. This distance is called the isometry's translation length. A hyperbolic isometry is determined by (1) its two fixed points, or equivalently the geodesic it fixes, (2) a direction, or orientation of the geodesic it fixes, and (3) its translation length. The translation length is invariant under conjugation in the full group of isometries of the plane, and all hyperbolic isometries with the same translation length are conjugate to one another via an orientation-preserving isometry. Choose a hyperbolic isometry, and choose a matrix \(M\) in \(SL(2, \mathbf{R})\) representing that isometry. The translation length can be computed from the trace as \(2\cosh^{-1}(\operatorname{tr}(M)/2)\). In addition, the matrix \(M\) is conjugate in \(SL(2, \mathbf{R})\) to a matrix of the form \(\begin{pmatrix} \lambda & 0 \\ 0 & \lambda^{-1} \end{pmatrix}\). In particular, \(M\) has two real eigenvalues that are reciprocals. Using this formulation, the translation length can be expressed as \(\|\log(\lambda^2)\|=2\|\log \|\lambda\|\|\). This expression can be derived from the expression using the trace by applying the identity \(\cosh^{-1}x=\log(x+\sqrt{x^2 - 1})\) (valid for \(x\geq 1\)). Elliptic isometry An elliptic isometry is an isometry with exactly one fixed point in \(\overline{H}\), and with the fixed point in \(H\) rather than the boundary. This figure shows an animation of a family of elliptic isometries with a continually increasing angle of rotation. See the caption for the hyperbolic isometry animation for more info about this figure. An elliptic isometry is sometimes called a "rotation." An elliptic isometry is determined by (1) its fixed point, and (2) its angle of rotation. The angle of rotation is invariant under conjugation in the full group of isometries of the plane, and all elliptic isometries with the same angle of rotation are conjugate to one another via an orientation-preserving isometry. Parabolic isometry A parabolic isometry is an isometry with exactly one fixed point in \(\overline{H}\), and with the fixed point in the boundary rather than in \(H\). This figure shows an animation of a family of parabolic isometries with a continually increasing distance by which points are moved. See the caption for the hyperbolic isometry animation for more info about this figure. Choose a point \(p\) in \(H\) (so not on the boundary). A parabolic isometry is then determined by (1) its fixed point, (2) the distance it moves the point \(p\), and (3) the direction it moves \(p\) (e.g. left or right when facing \(H\) from the fixed point). The direction of a parabolic isometry is invariant under conjugation by orientation-preserving isometries but not by orientation-reversing isometries. In the full group of isometries of the plane, all parabolic isometries are conjugate to one another (i.e. there is just one conjugacy class). In the group of orientation-preserving isometries, all parabolic isometries having the same direction are conjugate to one another (so there are two conjugacy classes in this case). Orientation-reversing isometries TODO	An isometry of the hyperbolic plane is a mapping of the hyperbolic plane to itself that preserves the underlying hyperbolic geometry (e.g. distances and angles). The isometries of the hyperbolic plane form a group under composition. An isometry of the hyperbolic plane can be either orientation-preserving or orientation-reversing. We first discuss orientation-preserving isometries. Orientation-preserving isometries The orientation-preserving isometries of the hyperbolic plane form a subgroup. This subgroup is equal to \(PSL(2, \mathbf{R})\) (e.g. by the latter group's action on the half-plane model of the hyperbolic plane). We will sometimes discuss isometries from the perspective of \(PSL(2, \mathbf{R})\), so for the purposes of this section, we'll assume we have an identification of the group of orientation-preserving isometries with \(PSL(2, \mathbf{R})\). Thus, given an orientation-preserving isometry of the plane, we can view it as an element of \(PSL(2, \mathbf{R})\). We can then choose a matrix \(M\) in \(SL(2, \mathbf{R})\) representing that element. This matrix will be unique up to multiplication by \(-1\). We will call \(M\) a matrix representing the isometry. There are three types of orientation-preserving isometries of the hyperbolic plane: hyperbolic, elliptic, and parabolic. (This terminology can be confusing at first because "hyperbolic isometry" can be used both to mean any isometry of the hyperbolic plane, as well as only those isometries that have hyperbolic type. In general, readers will have to pay attention to the context to know which meaning is being used.) There is also a fourth type of isometry sometimes left out because it is trivial: the identity isometry. Alternatively, the identity isometry can be viewed as a degenerate form of the other three types. Whether an isometry is hyperbolic, elliptic, parabolic, or the identity is invariant under conjugacy in the full group of isometries of the hyperbolic plane. Let \(H\) denote the hyperbolic plane, and let \(\overline{H}\) denote the hyperbolic plane together with its boundary at infinity. One common way to tell the type of an isometry is by the nature and number of its fixed points in \(\overline{H}\). For example, the identity isometry is the unique isometry that fixes all points in \(H\) (as well as in \(\overline{H}\)). We discuss the remaining types below. Hyperbolic isometry A hyperbolic isometry is an orientation-preserving isometry with exactly two fixed points in \(\overline{H}\). These two points will necessarily be in the boundary at infinity. This figure shows an animation of a family of hyperbolic isometries with increasing translation length. Both sides show the same isometries, with the left using the Klein model, and the right using the Poincaré disk model. Along the geodesics, the dots are spaced a distance 0.25 apart in the Klein model, and 0.5 apart in the Poincare disk model. A hyperbolic isometry is sometimes called a "translation." A hyperbolic isometry fixes as a set the geodesic connecting its two fixed points. It translates all points in this geodesic by a common distance. This distance is called the isometry's translation length. A hyperbolic isometry is determined by (1) its two fixed points, or equivalently the geodesic it fixes, (2) a direction, or orientation of the geodesic it fixes, and (3) its translation length. The translation length is invariant under conjugation in the full group of isometries of the plane, and all hyperbolic isometries with the same translation length are conjugate to one another via an orientation-preserving isometry. Choose a hyperbolic isometry, and choose a matrix \(M\) in \(SL(2, \mathbf{R})\) representing that isometry. It is a property of hyperbolic isometries that \(\|\operatorname{tr}(M)\|>2\). Also, the translation length can be computed from the trace as \(2\cosh^{-1}(\operatorname{tr}(M)/2)\). In addition, the matrix \(M\) is conjugate in \(SL(2, \mathbf{R})\) to a matrix of the form \(\begin{pmatrix} \lambda & 0 \\ 0 & \lambda^{-1} \end{pmatrix}\). In particular, \(M\) has two real eigenvalues that are reciprocals. Using this formulation, the translation length can be expressed as \(\|\log(\lambda^2)\|=2\|\log \|\lambda\|\|\). This expression can be derived from the expression using the trace by applying the identity \(\cosh^{-1}x=\log(x+\sqrt{x^2 - 1})\) (valid for \(x\geq 1\)). Elliptic isometry An elliptic isometry is an isometry with exactly one fixed point in \(\overline{H}\), and with the fixed point in \(H\) rather than the boundary. This figure shows an animation of a family of elliptic isometries with a continually increasing angle of rotation. See the caption for the hyperbolic isometry animation for more info about this figure. An elliptic isometry is sometimes called a "rotation." An elliptic isometry is determined by (1) its fixed point, and (2) its angle of rotation. The angle of rotation is invariant under conjugation in the full group of isometries of the plane, and all elliptic isometries with the same angle of rotation are conjugate to one another via an orientation-preserving isometry. Choose an elliptic isometry, and choose a matrix \(M\) in \(SL(2, \mathbf{R})\) representing that isometry. It is a property of elliptic isometries that \(\|\operatorname{tr}(M)\|<2\). Also, the angle of rotation can be computed from the trace as \(2\cos^{-1}(\operatorname{tr}(M)/2)\). Parabolic isometry A parabolic isometry is an isometry with exactly one fixed point in \(\overline{H}\), and with the fixed point in the boundary rather than in \(H\). This figure shows an animation of a family of parabolic isometries with a continually increasing distance by which points are moved. See the caption for the hyperbolic isometry animation for more info about this figure. Choose a point \(p\) in \(H\) (so not on the boundary). A parabolic isometry is then determined by (1) its fixed point, (2) the distance it moves the point \(p\), and (3) the direction it moves \(p\) (e.g. left or right when facing \(H\) from the fixed point). The direction of a parabolic isometry is invariant under conjugation by orientation-preserving isometries but not by orientation-reversing isometries. In the full group of isometries of the plane, all parabolic isometries are conjugate to one another (i.e. there is just one conjugacy class). In the group of orientation-preserving isometries, all parabolic isometries having the same direction are conjugate to one another (so there are two conjugacy classes in this case). Choose a parabolic isometry, and choose a matrix \(M\) in \(SL(2, \mathbf{R})\) representing that isometry. It is a property of parabolic isometries (and of the identity isometry) that \(\|\operatorname{tr}(M)\|=2\). Orientation-reversing isometries TODO

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An isometry of the hyperbolic plane is a mapping of the hyperbolic plane to itself that preserves the underlying hyperbolic geometry (e.g. distances and angles).

The isometries of the hyperbolic plane form a group under composition.

An isometry of the hyperbolic plane can be either orientation-preserving or orientation-reversing. We first discuss orientation-preserving isometries.

Orientation-preserving isometries

The orientation-preserving isometries of the hyperbolic plane form a subgroup. This subgroup is equal to \(PSL(2, \mathbf{R})\) (e.g. by the latter group's action on the half-plane model of the hyperbolic plane). We will sometimes discuss isometries from the perspective of \(PSL(2, \mathbf{R})\), so for the purposes of this section, we'll assume we have an identification of the group of orientation-preserving isometries with \(PSL(2, \mathbf{R})\).

Thus, given an orientation-preserving isometry of the plane, we can view it as an element of \(PSL(2, \mathbf{R})\). We can then choose a matrix \(M\) in \(SL(2, \mathbf{R})\) representing that element. This matrix will be unique up to multiplication by \(-1\). We will call \(M\) a matrix representing the isometry.

There are three types of orientation-preserving isometries of the hyperbolic plane: hyperbolic, elliptic, and parabolic. (This terminology can be confusing at first because "hyperbolic isometry" can be used both to mean any isometry of the hyperbolic plane, as well as only those isometries that have hyperbolic type. In general, readers will have to pay attention to the context to know which meaning is being used.)

There is also a fourth type of isometry sometimes left out because it is trivial: the identity isometry. Alternatively, the identity isometry can be viewed as a degenerate form of the other three types.

Whether an isometry is hyperbolic, elliptic, parabolic, or the identity is invariant under conjugacy in the full group of isometries of the hyperbolic plane.

Let \(H\) denote the hyperbolic plane, and let \(\overline{H}\) denote the hyperbolic plane together with its boundary at infinity. One common way to tell the type of an isometry is by the nature and number of its fixed points in \(\overline{H}\). For example, the identity isometry is the unique isometry that fixes all points in \(H\) (as well as in \(\overline{H}\)). We discuss the remaining types below.

Hyperbolic isometry

A hyperbolic isometry is an orientation-preserving isometry with exactly two fixed points in \(\overline{H}\). These two points will necessarily be in the boundary at infinity.

This figure shows an animation of a family of hyperbolic isometries with increasing translation length. Both sides show the same isometries, with the left using the Klein model, and the right using the Poincaré disk model. Along the geodesics, the dots are spaced a distance 0.25 apart in the Klein model, and 0.5 apart in the Poincare disk model.

A hyperbolic isometry is sometimes called a "translation." A hyperbolic isometry fixes as a set the geodesic connecting its two fixed points. It translates all points in this geodesic by a common distance. This distance is called the isometry's translation length.

A hyperbolic isometry is determined by (1) its two fixed points, or equivalently the geodesic it fixes, (2) a direction, or orientation of the geodesic it fixes, and (3) its translation length. The translation length is invariant under conjugation in the full group of isometries of the plane, and all hyperbolic isometries with the same translation length are conjugate to one another via an orientation-preserving isometry.

Choose a hyperbolic isometry, and choose a matrix \(M\) in \(SL(2, \mathbf{R})\) representing that isometry. The translation length can be computed from the trace as \(2\cosh^{-1}(\operatorname{tr}(M)/2)\).

In addition, the matrix \(M\) is conjugate in \(SL(2, \mathbf{R})\) to a matrix of the form \(\begin{pmatrix} \lambda & 0 \\ 0 & \lambda^{-1} \end{pmatrix}\). In particular, \(M\) has two real eigenvalues that are reciprocals. Using this formulation, the translation length can be expressed as \(|\log(\lambda^2)|=2|\log |\lambda||\). This expression can be derived from the expression using the trace by applying the identity \(\cosh^{-1}x=\log(x+\sqrt{x^2 - 1})\) (valid for \(x\geq 1\)).

Elliptic isometry

An elliptic isometry is an isometry with exactly one fixed point in \(\overline{H}\), and with the fixed point in \(H\) rather than the boundary.

This figure shows an animation of a family of elliptic isometries with a continually increasing angle of rotation. See the caption for the hyperbolic isometry animation for more info about this figure.

An elliptic isometry is sometimes called a "rotation." An elliptic isometry is determined by (1) its fixed point, and (2) its angle of rotation. The angle of rotation is invariant under conjugation in the full group of isometries of the plane, and all elliptic isometries with the same angle of rotation are conjugate to one another via an orientation-preserving isometry.

Parabolic isometry

A parabolic isometry is an isometry with exactly one fixed point in \(\overline{H}\), and with the fixed point in the boundary rather than in \(H\).

This figure shows an animation of a family of parabolic isometries with a continually increasing distance by which points are moved. See the caption for the hyperbolic isometry animation for more info about this figure.

Choose a point \(p\) in \(H\) (so not on the boundary). A parabolic isometry is then determined by (1) its fixed point, (2) the distance it moves the point \(p\), and (3) the direction it moves \(p\) (e.g. left or right when facing \(H\) from the fixed point). The direction of a parabolic isometry is invariant under conjugation by orientation-preserving isometries but not by orientation-reversing isometries. In the full group of isometries of the plane, all parabolic isometries are conjugate to one another (i.e. there is just one conjugacy class). In the group of orientation-preserving isometries, all parabolic isometries having the same direction are conjugate to one another (so there are two conjugacy classes in this case).

Orientation-reversing isometries

TODO

An isometry of the hyperbolic plane is a mapping of the hyperbolic plane to itself that preserves the underlying hyperbolic geometry (e.g. distances and angles).

The isometries of the hyperbolic plane form a group under composition.

An isometry of the hyperbolic plane can be either orientation-preserving or orientation-reversing. We first discuss orientation-preserving isometries.

Orientation-preserving isometries

Whether an isometry is hyperbolic, elliptic, parabolic, or the identity is invariant under conjugacy in the full group of isometries of the hyperbolic plane.