In the mathematical field of topology, a regular homotopy refers to a special kind of homotopy between immersions of one manifold in another. The homotopy must be a 1-parameter family of immersions. Similar to homotopy classes, one defines two immersions to be in the same regular homotopy class if there exists a regular homotopy between them. Regular homotopy for immersions is similar to isotopy of embeddings: they are both restricted types of homotopies. Stated another way, two continuous functions f , g : M → N {\displaystyle f,g:M\to N} are homotopic if they represent points in the same path-components of the mapping space C ( M , N ) {\displaystyle C(M,N)} , given the compact-open topology. The space of immersions is the subset of C ( M , N ) {\displaystyle C(M,N)} consisting of immersions, denoted by Imm ( M , N ) {\displaystyle \operatorname {Imm} (M,N)} , given the C 1 {\displaystyle C^{1}} topology. Two immersions f , g : M → N {\displaystyle f,g:M\to N} are regularly homotopic if they represent points in the same path-component of Imm ( M , N ) {\displaystyle \operatorname {Imm} (M,N)} .
Examples Any two knots in 3-space are equivalent by regular homotopy, though not by isotopy. The Whitney–Graustein theorem classifies the regular homotopy classes of a circle into the plane; two immersions are regularly homotopic if and only if they have the same turning number – equivalently, total curvature; equivalently, if and only if their Gauss maps have the same degree/winding number.
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