Abstract
We classify the finite groups of orthogonal transformations in 4-space, and we study these groups from the viewpoint of their geometric action, using polar orbit polytopes. For one type of groups (the toroidal groups), we develop a new classification based on their action on an invariant torus, while we rely on classic results for the remaining groups. As a tool, we develop a convenient parameterization of the oriented great circles on the 3-sphere, which leads to (oriented) Hopf fibrations in a natural way.
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