Theorem 6.3 (Criterion for Lorentz Frames)
The following are equivalent:
(a) A coordinate system i in Minkowski space M is Lorentz at the point p
(b) If x is any frame such that, at p, G = diag[1, 1, 1, -c2], then the columns of the change-of-coordinate matrix
where the inner product is defined by the matrix G.
(c) = diag[1, 1, 1, -c2]
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