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Continuous Symmetry: from Euclid to Klein: from Euclid to Klein by Roger Howe, William Barker (Hardcover, 2008)

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Subtitle: from Euclid to Klein. Author: William Barker, Roger Howe. The primary focus of the book is on transformations of the plane. The approach to the material is very concrete, with complete explanations of all the important ideas, including foundational background.