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This book follows Felix Klein’s proposal of studying geometry by looking at the symmetries (or rigid motions) of the space in question. In this way the classical geometries are studied: Euclidean, affine, elliptic, projective and hyperbolic. For simplicity the focus is on the two-dimensional case, which is already rich enough, though some aspects of the 3- or n-dimensional geometries are included. Once plane geometry is well understood, it is much easier to go into higher dimensions.