, :
1) X, ( );
2) Θ;
3) 0t 0t: X → X, 0 X t 0 Θ t X t = t0 + t Θ. , :
(1.7) |
X :
(1.8) | ||||
(1.9) | ||||
.
Χ, Θ . Θ = R 1, , t , . Θ , .
X, , . , , . X N ( RN ZN). , . , X . , , - , . X = RN.
, . , , , :
(1.10) |
( (1.10)), .
0t t, τ > 0, τ < 0, , . . , t = t 0 + τ, t 0. . t > 0, . .
|
|
t 0t t 0, t, , . , t 0t = t, (1.9)
, . , , . , . , . , (, [π; + π]).
, . . , . () .
. , t 0t . , , . .
2.2. () , , qi vi (i = 1, 2,..., N) N . , 2 N. q 1, v 1..., qN, vN, , . , , (2 N- 1) - , . . ( ) . , , . ( ) , , .