Euclidean space curves  

from P. Olver, On generating Differential Invariants, in preparation. 

>	coord_frame([x], [u, v], fr);

 

fr>	LieAlg:=[[1,0,0],[0,1,0],[0,0,1],[u[0],-x,0],[v[0],0,-x],[0,v[0],-u[0]]]: LieAlg:=map( V-> v_zip(V,frameJetVariables(fr,0)[1..3],plus, vect), LieAlg);