of Special Euclidean group SE, consisting of planar rotations and translations, denoted by SE.

The group SE is three-dimensional, which means that every position of a body in the plane is defined by three parameters. The parameters are often the x and y coordinates of the origin of a coordinate frame in M, measured from the origin of a coordinate frame in F, and the angle measured from the x-axis in F to the x-axis in M. This is often described saying