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Haar measure on SO(4)

  1. Jul 25, 2012 #1
    I wasn't quite sure where to post this question, so please forgive me if I chose the wrong place.

    Essentially I'm looking for an explicit expression for the Haar measure on SO(4), i.e. in terms of angles, or if you prefer, expressed in terms of the Lebesgue integral over a subset of the Lie algebra.

    Does anyone know any references which might contain this?

    Thank you.
  2. jcsd
  3. Jul 25, 2012 #2


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    There's one in the appendix of http://arxiv.org/abs/0805.0267. There is at least one typo there, but the overall construction is using the correct methods.
  4. Jul 26, 2012 #3
    Thank you!
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