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relativistically invariant relativity groups Poincaré(<var>d</var>,1) Poincaré transformations Poincaré symmetry Poincaré invariant Poincaré invariance Poincaré group#Poincaré_symmetry Poincaré group#Poincaré algebra space-time transformations Poincaré covariant Poincaré Poincaré Lie algebra irreducible representation of the Poincaré group Poincaré algebra Lorentz generator