What is the Haar Measure on SO(4) and Where Can I Find References?

[Bobhawke]

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.

 

[fzero]

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.

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.

 

[Bobhawke]

Thank you!