\documentclass[12pt,titlepage]{article}

\usepackage{amsmath}
\usepackage{mathrsfs}
\usepackage{amsfonts}
\usepackage{amssymb}
\usepackage{amsthm}
\usepackage{mathtools}
\usepackage{graphicx}
\usepackage{color}
\usepackage{ucs}
\usepackage[utf8x]{inputenc}
\usepackage{xparse}
\usepackage{hyperref}

%----Macros----------
%
% Unresolved issues:
%
%  \righttoleftarrow
%  \lefttorightarrow
%
%  \color{} with HTML colorspec
%  \bgcolor
%  \array with options (without options, it's equivalent to the matrix environment)

% Of the standard HTML named colors, white, black, red, green, blue and yellow
% are predefined in the color package. Here are the rest.
\definecolor{aqua}{rgb}{0, 1.0, 1.0}
\definecolor{fuschia}{rgb}{1.0, 0, 1.0}
\definecolor{gray}{rgb}{0.502, 0.502, 0.502}
\definecolor{lime}{rgb}{0, 1.0, 0}
\definecolor{maroon}{rgb}{0.502, 0, 0}
\definecolor{navy}{rgb}{0, 0, 0.502}
\definecolor{olive}{rgb}{0.502, 0.502, 0}
\definecolor{purple}{rgb}{0.502, 0, 0.502}
\definecolor{silver}{rgb}{0.753, 0.753, 0.753}
\definecolor{teal}{rgb}{0, 0.502, 0.502}

% Because of conflicts, \space and \mathop are converted to
% \itexspace and \operatorname during preprocessing.

% itex: \space{ht}{dp}{wd}
%
% Height and baseline depth measurements are in units of tenths of an ex while
% the width is measured in tenths of an em.
\makeatletter
\newdimen\itex@wd%
\newdimen\itex@dp%
\newdimen\itex@thd%
\def\itexspace#1#2#3{\itex@wd=#3em%
\itex@wd=0.1\itex@wd%
\itex@dp=#2ex%
\itex@dp=0.1\itex@dp%
\itex@thd=#1ex%
\itex@thd=0.1\itex@thd%
\advance\itex@thd\the\itex@dp%
\makebox[\the\itex@wd]{\rule[-\the\itex@dp]{0cm}{\the\itex@thd}}}
\makeatother

% \tensor and \multiscript
\makeatletter
\newif\if@sup
\newtoks\@sups
\def\append@sup#1{\edef\act{\noexpand\@sups={\the\@sups #1}}\act}%
\def\reset@sup{\@supfalse\@sups={}}%
\def\mk@scripts#1#2{\if #2/ \if@sup ^{\the\@sups}\fi \else%
  \ifx #1_ \if@sup ^{\the\@sups}\reset@sup \fi {}_{#2}%
  \else \append@sup#2 \@suptrue \fi%
  \expandafter\mk@scripts\fi}
\def\tensor#1#2{\reset@sup#1\mk@scripts#2_/}
\def\multiscripts#1#2#3{\reset@sup{}\mk@scripts#1_/#2%
  \reset@sup\mk@scripts#3_/}
\makeatother

% \slash
\makeatletter
\newbox\slashbox \setbox\slashbox=\hbox{$/$}
\def\itex@pslash#1{\setbox\@tempboxa=\hbox{$#1$}
  \@tempdima=0.5\wd\slashbox \advance\@tempdima 0.5\wd\@tempboxa
  \copy\slashbox \kern-\@tempdima \box\@tempboxa}
\def\slash{\protect\itex@pslash}
\makeatother

% math-mode versions of \rlap, etc
% from Alexander Perlis, "A complement to \smash, \llap, and lap"
%   http://math.arizona.edu/~aprl/publications/mathclap/
\def\clap#1{\hbox to 0pt{\hss#1\hss}}
\def\mathllap{\mathpalette\mathllapinternal}
\def\mathrlap{\mathpalette\mathrlapinternal}
\def\mathclap{\mathpalette\mathclapinternal}
\def\mathllapinternal#1#2{\llap{$\mathsurround=0pt#1{#2}$}}
\def\mathrlapinternal#1#2{\rlap{$\mathsurround=0pt#1{#2}$}}
\def\mathclapinternal#1#2{\clap{$\mathsurround=0pt#1{#2}$}}

% Renames \sqrt as \oldsqrt and redefine root to result in \sqrt[#1]{#2}
\let\oldroot\root
\def\root#1#2{\oldroot #1 \of{#2}}
\renewcommand{\sqrt}[2][]{\oldroot #1 \of{#2}}

% Manually declare the txfonts symbolsC font
\DeclareSymbolFont{symbolsC}{U}{txsyc}{m}{n}
\SetSymbolFont{symbolsC}{bold}{U}{txsyc}{bx}{n}
\DeclareFontSubstitution{U}{txsyc}{m}{n}

% Manually declare the stmaryrd font
\DeclareSymbolFont{stmry}{U}{stmry}{m}{n}
\SetSymbolFont{stmry}{bold}{U}{stmry}{b}{n}

% Manually declare the MnSymbolE font
\DeclareFontFamily{OMX}{MnSymbolE}{}
\DeclareSymbolFont{mnomx}{OMX}{MnSymbolE}{m}{n}
\SetSymbolFont{mnomx}{bold}{OMX}{MnSymbolE}{b}{n}
\DeclareFontShape{OMX}{MnSymbolE}{m}{n}{
    <-6>  MnSymbolE5
   <6-7>  MnSymbolE6
   <7-8>  MnSymbolE7
   <8-9>  MnSymbolE8
   <9-10> MnSymbolE9
  <10-12> MnSymbolE10
  <12->   MnSymbolE12}{}

% Declare specific arrows from txfonts without loading the full package
\makeatletter
\def\re@DeclareMathSymbol#1#2#3#4{%
    \let#1=\undefined
    \DeclareMathSymbol{#1}{#2}{#3}{#4}}
\re@DeclareMathSymbol{\neArrow}{\mathrel}{symbolsC}{116}
\re@DeclareMathSymbol{\neArr}{\mathrel}{symbolsC}{116}
\re@DeclareMathSymbol{\seArrow}{\mathrel}{symbolsC}{117}
\re@DeclareMathSymbol{\seArr}{\mathrel}{symbolsC}{117}
\re@DeclareMathSymbol{\nwArrow}{\mathrel}{symbolsC}{118}
\re@DeclareMathSymbol{\nwArr}{\mathrel}{symbolsC}{118}
\re@DeclareMathSymbol{\swArrow}{\mathrel}{symbolsC}{119}
\re@DeclareMathSymbol{\swArr}{\mathrel}{symbolsC}{119}
\re@DeclareMathSymbol{\nequiv}{\mathrel}{symbolsC}{46}
\re@DeclareMathSymbol{\Perp}{\mathrel}{symbolsC}{121}
\re@DeclareMathSymbol{\Vbar}{\mathrel}{symbolsC}{121}
\re@DeclareMathSymbol{\sslash}{\mathrel}{stmry}{12}
\re@DeclareMathSymbol{\bigsqcap}{\mathop}{stmry}{"64}
\re@DeclareMathSymbol{\biginterleave}{\mathop}{stmry}{"6}
\re@DeclareMathSymbol{\invamp}{\mathrel}{symbolsC}{77}
\re@DeclareMathSymbol{\parr}{\mathrel}{symbolsC}{77}
\makeatother

% \llangle, \rrangle, \lmoustache and \rmoustache from MnSymbolE
\makeatletter
\def\Decl@Mn@Delim#1#2#3#4{%
  \if\relax\noexpand#1%
    \let#1\undefined
  \fi
  \DeclareMathDelimiter{#1}{#2}{#3}{#4}{#3}{#4}}
\def\Decl@Mn@Open#1#2#3{\Decl@Mn@Delim{#1}{\mathopen}{#2}{#3}}
\def\Decl@Mn@Close#1#2#3{\Decl@Mn@Delim{#1}{\mathclose}{#2}{#3}}
\Decl@Mn@Open{\llangle}{mnomx}{'164}
\Decl@Mn@Close{\rrangle}{mnomx}{'171}
\Decl@Mn@Open{\lmoustache}{mnomx}{'245}
\Decl@Mn@Close{\rmoustache}{mnomx}{'244}
\makeatother

% Widecheck
\makeatletter
\DeclareRobustCommand\widecheck[1]{{\mathpalette\@widecheck{#1}}}
\def\@widecheck#1#2{%
    \setbox\z@\hbox{\m@th$#1#2$}%
    \setbox\tw@\hbox{\m@th$#1%
       \widehat{%
          \vrule\@width\z@\@height\ht\z@
          \vrule\@height\z@\@width\wd\z@}$}%
    \dp\tw@-\ht\z@
    \@tempdima\ht\z@ \advance\@tempdima2\ht\tw@ \divide\@tempdima\thr@@
    \setbox\tw@\hbox{%
       \raise\@tempdima\hbox{\scalebox{1}[-1]{\lower\@tempdima\box
\tw@}}}%
    {\ooalign{\box\tw@ \cr \box\z@}}}
\makeatother

% \mathraisebox{voffset}[height][depth]{something}
\makeatletter
\NewDocumentCommand\mathraisebox{moom}{%
\IfNoValueTF{#2}{\def\@temp##1##2{\raisebox{#1}{$\m@th##1##2$}}}{%
\IfNoValueTF{#3}{\def\@temp##1##2{\raisebox{#1}[#2]{$\m@th##1##2$}}%
}{\def\@temp##1##2{\raisebox{#1}[#2][#3]{$\m@th##1##2$}}}}%
\mathpalette\@temp{#4}}
\makeatletter

% udots (taken from yhmath)
\makeatletter
\def\udots{\mathinner{\mkern2mu\raise\p@\hbox{.}
\mkern2mu\raise4\p@\hbox{.}\mkern1mu
\raise7\p@\vbox{\kern7\p@\hbox{.}}\mkern1mu}}
\makeatother

%% Fix array
\newcommand{\itexarray}[1]{\begin{matrix}#1\end{matrix}}
%% \itexnum is a noop
\newcommand{\itexnum}[1]{#1}

%% Renaming existing commands
\newcommand{\underoverset}[3]{\underset{#1}{\overset{#2}{#3}}}
\newcommand{\widevec}{\overrightarrow}
\newcommand{\darr}{\downarrow}
\newcommand{\nearr}{\nearrow}
\newcommand{\nwarr}{\nwarrow}
\newcommand{\searr}{\searrow}
\newcommand{\swarr}{\swarrow}
\newcommand{\curvearrowbotright}{\curvearrowright}
\newcommand{\uparr}{\uparrow}
\newcommand{\downuparrow}{\updownarrow}
\newcommand{\duparr}{\updownarrow}
\newcommand{\updarr}{\updownarrow}
\newcommand{\gt}{>}
\newcommand{\lt}{<}
\newcommand{\map}{\mapsto}
\newcommand{\embedsin}{\hookrightarrow}
\newcommand{\Alpha}{A}
\newcommand{\Beta}{B}
\newcommand{\Zeta}{Z}
\newcommand{\Eta}{H}
\newcommand{\Iota}{I}
\newcommand{\Kappa}{K}
\newcommand{\Mu}{M}
\newcommand{\Nu}{N}
\newcommand{\Rho}{P}
\newcommand{\Tau}{T}
\newcommand{\Upsi}{\Upsilon}
\newcommand{\omicron}{o}
\newcommand{\lang}{\langle}
\newcommand{\rang}{\rangle}
\newcommand{\Union}{\bigcup}
\newcommand{\Intersection}{\bigcap}
\newcommand{\Oplus}{\bigoplus}
\newcommand{\Otimes}{\bigotimes}
\newcommand{\Wedge}{\bigwedge}
\newcommand{\Vee}{\bigvee}
\newcommand{\coproduct}{\coprod}
\newcommand{\product}{\prod}
\newcommand{\closure}{\overline}
\newcommand{\integral}{\int}
\newcommand{\doubleintegral}{\iint}
\newcommand{\tripleintegral}{\iiint}
\newcommand{\quadrupleintegral}{\iiiint}
\newcommand{\conint}{\oint}
\newcommand{\contourintegral}{\oint}
\newcommand{\infinity}{\infty}
\newcommand{\bottom}{\bot}
\newcommand{\minusb}{\boxminus}
\newcommand{\plusb}{\boxplus}
\newcommand{\timesb}{\boxtimes}
\newcommand{\intersection}{\cap}
\newcommand{\union}{\cup}
\newcommand{\Del}{\nabla}
\newcommand{\odash}{\circleddash}
\newcommand{\negspace}{\!}
\newcommand{\widebar}{\overline}
\newcommand{\textsize}{\normalsize}
\renewcommand{\scriptsize}{\scriptstyle}
\newcommand{\scriptscriptsize}{\scriptscriptstyle}
\newcommand{\mathfr}{\mathfrak}
\newcommand{\statusline}[2]{#2}
\newcommand{\tooltip}[2]{#2}
\newcommand{\toggle}[2]{#2}

% Theorem Environments
\theoremstyle{plain}
\newtheorem{theorem}{Theorem}
\newtheorem{lemma}{Lemma}
\newtheorem{prop}{Proposition}
\newtheorem{cor}{Corollary}
\newtheorem*{utheorem}{Theorem}
\newtheorem*{ulemma}{Lemma}
\newtheorem*{uprop}{Proposition}
\newtheorem*{ucor}{Corollary}
\theoremstyle{definition}
\newtheorem{defn}{Definition}
\newtheorem{example}{Example}
\newtheorem*{udefn}{Definition}
\newtheorem*{uexample}{Example}
\theoremstyle{remark}
\newtheorem{remark}{Remark}
\newtheorem{note}{Note}
\newtheorem*{uremark}{Remark}
\newtheorem*{unote}{Note}

%-------------------------------------------------------------------

\begin{document}

%-------------------------------------------------------------------


\section*{teleparallel gravity}

\hypertarget{context}{}\subsubsection*{{Context}}\label{context}

\hypertarget{gravity}{}\paragraph*{{Gravity}}\label{gravity}

[[!include gravity contents]]

\hypertarget{physics}{}\paragraph*{{Physics}}\label{physics}

[[!include physicscontents]]

\hypertarget{contents}{}\section*{{Contents}}\label{contents}

\noindent\hyperlink{idea}{Idea}\dotfill \pageref*{idea} \linebreak
\noindent\hyperlink{references}{References}\dotfill \pageref*{references} \linebreak


\hypertarget{idea}{}\subsection*{{Idea}}\label{idea}

In the [[first order formulation of gravity]] the field of [[gravity]] is modeled by a [[connection]] with values in the [[Poincaré Lie algebra]]. Such a connection locally decomposes into a $\mathbb{R}^{d,1}$-[[Lie algebra valued 1-form]] called the \emph{[[vielbein]]} and a [[special orthogonal Lie algebra|so(d,1)]]-[[Lie algebra valued 1-form|valued 1-form]] called the \emph{[[spin connection]]} piece.

There is a constraint on this data. Usually the $so(d,1)$-connection is required to be the [[Levi-Civita connection]] corresponding to the [[pseudo-Riemannian metric]] encoded by the vielbein, hence the unique metric compatible connection with vanishing [[torsion]] but in general non-vanishing curvature.

But to some extent one may instead impose a dual constraint and demand the connection to be the \emph{[[Weitzenböck connection]]}, which has vanishing [[curvature]], but in general non-vanishing [[torsion]]. This formulation of gravity is called \emph{teleparallel gravity}, because by flatness of the connection, its [[parallel transport]] is trivial and hence [[tangent vectors]] at different points of [[spacetime]] may consistently be compared without specifying a [[path groupoid|path]] between them, hence without first [[parallel transport|parallel transporting]] one to the other. This ``parallelism at a distance'' is what gives teleparallel gravity its name.

Notice that under some conditions a manifold being flat (i.e. admitting a [[flat connection]] on its tangent bundle) implies that it is a [[parallelizable manifold]], hence that the tangent bundle is actually trivializable. Sufficient such condition is notably that the flat manifold is also [[simply connected topological space|simply connected]], but this may be relaxed (\hyperlink{Thorpe65}{Thorpe 65}). Some authors may explicitly assume for teleparallel gravity that the tangent bundle is trivialized by the [[vielbein field]] (making it a [[framed manifold]]), though authors in the physics literature tend to be vague on this point.

At least without coupling to matter, the teleparallel formulation is locally classically equivalent to the ordinary formulation in [[first order formulation of gravity]] in that inserting in the [[Euler-Lagrange equations]] for the [[vielbein]]+[[Weitzenböck connection]] the expression of the latter in terms of the [[Levi-Civita connection]] one reaobtains the ordinary [[Einstein equations]].

Despite this equivalence, the map of the formal field content of teleparallel gravity to its physical interpretation has a rather different feel to it than in the ordinary formulation. Where ordinarily the field of gravity does not quite affect the motion of bodies like an ordinary [[force]] in Newtonian physics, but instead by [[curvature]] causing non-trivial [[geodesics]], in the teleparallel description the curvature does vanish just as in newtonian physics, and instead the [[torsion]] of the connection acts like a genuine Newtonian force.

\hypertarget{references}{}\subsection*{{References}}\label{references}

Survey of basic ideas and issues are for instance

\begin{itemize}%
\item J. Pereira, \emph{Torsion and the description of the gravitational interaction} (\href{http://www.phys.sinica.edu.tw/~heptheory/files/pereira.pdf}{pdf slides})


\item R. Aldrovandi, J. G. Pereira, K. H. Vu, \emph{Gravitation without the equivalence principle} (\href{http://arxiv.org/abs/gr-qc/0304106}{arXiv:gr-qc/0304106})



\end{itemize}
More discussion is in

\begin{itemize}%
\item R. Aldrovandi, J. G. Pereira, and K. H. Vu, \emph{Selected topics in teleparallel gravity} Brazilian Journal of Physics, vol. 34, no. 4A, (2004) (\href{http://www.sbfisica.org.br/bjp/files/v34_1374.pdf}{pdf})

\end{itemize}
The [[Schwarzschild spacetime]] in the context of teleparallel gravity is discussed in

\begin{itemize}%
\item Gheorghe Zet, \emph{Schwarzschild solution on spacetime with torsion} (\href{http://arxiv.org/abs/gr-qc/0308078}{arXiv:gr-qc/0308078})

\end{itemize}
The relation between flat tangent connections and parallelizablity is discussed in

\begin{itemize}%
\item [[John Thorpe]], \emph{Parallelizablility and flat manifolds}, 1965 ([[ThorpeParallelizable.pdf:file]])

\end{itemize}


\end{document}