“…These Lie algebras are often called almost abelian in the literature. It was proved in that there exists an orthonormal basis of with respect to such that and where We note that each of these Lie algebras is completely determined by the real matrix and so its Lie bracket will be denoted by and the corresponding simply connected Lie group by . Note Identification of linear maps with matrices will always be done via the ordered basis , unless otherwise stated.…”