For a given field
and positive integer
, the
-dimensional
affine space over
is the set
 |
(4.51) |
For our purposes in this section, an affine space can be considered as
a vector space (for an exact definition, see [438]). Thus,
is like a vector version of the scalar field
. Familiar
examples of this are
,
, and
.
A polynomial in
can be converted into
a function,
 |
(4.52) |
by substituting elements of
for each variable and evaluating the
expression using the field operations. This can be written as
, in which each
denotes an element of
that is substituted for the variable
.
We now arrive at an interesting question. For a given
, what are
the elements of
such that
? We could
also ask the question for some nonzero element, but notice that this
is not necessary because the polynomial may be redefined to formulate
the question using 0
. For example, what are the elements of
such that
? This familiar equation for
can be
reformulated to yield: What are the elements of
such that
?
Let
be a field and let
be a set of
polynomials in
. The set
for all  |
(4.53) |
is called the (affine) variety defined by
. One interesting fact is that unions and
intersections of varieties are varieties. Therefore, they behave like
the semi-algebraic sets from Section 3.1.2, but for
varieties only equality constraints are allowed. Consider the
varieties
and
. Their
intersection is given by
 |
(4.54) |
because each element of
must produce a 0
value for each of
the polynomials in
.
To obtain unions, the polynomials simply need to be multiplied. For
example, consider the varieties
defined as
 |
(4.55) |
and
 |
(4.56) |
The set
is obtained by forming the
polynomial
. Note that
if either
or
. Therefore,
is a variety. The varieties
and
were
defined using a single polynomial, but the same idea applies to any
variety. All pairs of the form
must appear in the argument
of
if there are multiple polynomials.
Steve M LaValle
2008-06-13