# Pointed homotopies

*Content created by Fredrik Bakke, Egbert Rijke, Jonathan Prieto-Cubides and maybemabeline.*

*Created on 2022-05-07.**Last modified on 2024-03-13.*

module structured-types.pointed-homotopies where

## Imports

open import foundation.action-on-higher-identifications-functions open import foundation.action-on-identifications-binary-functions open import foundation.action-on-identifications-functions open import foundation.binary-equivalences open import foundation.commuting-triangles-of-identifications open import foundation.contractible-types open import foundation.dependent-pair-types open import foundation.equivalences open import foundation.function-extensionality open import foundation.function-types open import foundation.functoriality-dependent-pair-types open import foundation.fundamental-theorem-of-identity-types open import foundation.homotopies open import foundation.homotopy-induction open import foundation.identity-types open import foundation.path-algebra open import foundation.structure-identity-principle open import foundation.universe-levels open import foundation.whiskering-homotopies-composition open import foundation.whiskering-identifications-concatenation open import foundation-core.torsorial-type-families open import structured-types.pointed-dependent-functions open import structured-types.pointed-families-of-types open import structured-types.pointed-maps open import structured-types.pointed-types

## Idea

A **pointed homotopy**^{¶} between
pointed dependent functions
`f := (f₀ , f₁)`

and `g := (g₀ , g₁)`

of type `pointed-Π A B`

consists of an
unpointed homotopy `H₀ : f₀ ~ g₀`

and an
identification `H₁ : f₁ ＝ (H₀ *) ∙ g₁`

witnessing that the triangle of identifications

```
H₀ *
f₀ * ------> g₀ *
\ /
f₁ \ / g₁
\ /
∨ ∨
*
```

commutes. This
identification is called the
**base point coherence**^{¶}
of the pointed homotopy `H := (H₀ , H₁)`

.

An equivalent way of defining pointed homotopies occurs when we consider the
type family `x ↦ f₀ x ＝ g₀ x`

over the base type `A`

. This is a
pointed type family, where the
base point is the identification

```
f₁ ∙ inv g₁ : f₀ * ＝ g₀ *.
```

A pointed homotopy `f ~∗ g`

is therefore equivalently defined as a pointed
dependent function of the pointed type family `x ↦ f₀ x ＝ g₀ x`

. Such a pointed
dependent function consists of an unpointed homotopy `H₀ : f₀ ~ g₀`

between the
underlying dependent functions and an identification witnessing that the
triangle of identifications

```
H₀ *
f₀ * ------> g₀ *
\ ∧
f₁ \ / inv g₁
\ /
∨ /
*
```

commutes. Notice that
the identification on the right in this triangle goes up, in the inverse
direction of the identification `g₁`

.

Note that in this second definition of pointed homotopies we defined pointed homotopies between pointed dependent functions to be certain pointed dependent functions. This implies that the second definition is a uniform definition that can easily be iterated in order to consider pointed higher homotopies. For this reason, we call the second definition of pointed homotopies uniform pointed homotopies.

Note that the difference between our main definition of pointed homotopies and the uniform definition of pointed homotopies is the direction of the identification on the right in the commuting triangle

```
H₀ *
f₀ * ------> g₀ *
\ /
f₁ \ / g₁
\ /
∨ ∨
*.
```

In the definition of uniform pointed homotopies it goes in the reverse
direction. This makes it slightly more complicated to construct an
identification witnessing that the triangle commutes in the case of uniform
pointed homotopies. Furthermore, this complication becomes more significant and
bothersome when we are trying to construct a
pointed `2`

-homotopy. For this
reason, our first definition where pointed homotopies are defined to consist of
unpointed homotopies and a base point coherence, is taken to be our main
definition of pointed homotopy. The only disadvantage of the nonuniform
definition of pointed homotopies is that it does not easily iterate.

We will write `f ~∗ g`

for the type of (nonuniform) pointed homotopies, and we
will write `H ~²∗ K`

for the nonuniform definition of pointed `2`

-homotopies.

## Definitions

### Unpointed homotopies between pointed dependent functions

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Fam l2 A} (f g : pointed-Π A B) where unpointed-htpy-pointed-Π : UU (l1 ⊔ l2) unpointed-htpy-pointed-Π = function-pointed-Π f ~ function-pointed-Π g

### Unpointed homotopies between pointed maps

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Type l2} (f g : A →∗ B) where unpointed-htpy-pointed-map : UU (l1 ⊔ l2) unpointed-htpy-pointed-map = map-pointed-map f ~ map-pointed-map g

### The base point coherence of unpointed homotopies between pointed maps

The base point coherence of pointed homotopies asserts that its underlying homotopy preserves the base point, in the sense that the triangle of identifications

```
H *
f * ------> g *
\ /
preserves-point f \ / preserves-point g
\ /
∨ ∨
*
```

commutes.

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Fam l2 A} (f g : pointed-Π A B) (G : unpointed-htpy-pointed-Π f g) where coherence-point-unpointed-htpy-pointed-Π : UU l2 coherence-point-unpointed-htpy-pointed-Π = coherence-triangle-identifications ( preserves-point-function-pointed-Π f) ( preserves-point-function-pointed-Π g) ( G (point-Pointed-Type A))

### Pointed homotopies

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Fam l2 A} (f g : pointed-Π A B) where pointed-htpy : UU (l1 ⊔ l2) pointed-htpy = Σ ( function-pointed-Π f ~ function-pointed-Π g) ( coherence-point-unpointed-htpy-pointed-Π f g) infix 6 _~∗_ _~∗_ : UU (l1 ⊔ l2) _~∗_ = pointed-htpy module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Fam l2 A} {f g : pointed-Π A B} (H : f ~∗ g) where htpy-pointed-htpy : function-pointed-Π f ~ function-pointed-Π g htpy-pointed-htpy = pr1 H coherence-point-pointed-htpy : coherence-point-unpointed-htpy-pointed-Π f g htpy-pointed-htpy coherence-point-pointed-htpy = pr2 H

### The reflexive pointed homotopy

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Fam l2 A} (f : pointed-Π A B) where refl-pointed-htpy : pointed-htpy f f pr1 refl-pointed-htpy = refl-htpy pr2 refl-pointed-htpy = refl

### Concatenation of pointed homotopies

Consider three pointed dependent functions `f := (f₀ , f₁)`

, `g := (g₀ , g₁)`

,
and `h := (h₀ , h₁)`

, and pointed homotopies `G := (G₀ , G₁)`

and
`H := (H₀ , H₁)`

between them as indicated in the diagram

```
G H
f -----> g -----> h
```

The concatenation `(G ∙h H)`

of `G`

and `H`

has underlying unpointed homotopy

```
(G ∙h H)₀ := G₀ ∙h H₀.
```

The base point coherence `(G ∙h H)₁`

of `(G ∙h H)`

is obtained by horizontally
pasting the commuting triangles of identifications

```
G₀ * H₀ *
f₀ * --> g₀ * ---> h₀ *
\ | /
\ | g₁ /
f₁ \ | / h₁
\ | /
\ | /
∨ ∨ ∨
*.
```

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Fam l2 A} {f g h : pointed-Π A B} (G : f ~∗ g) (H : g ~∗ h) where htpy-concat-pointed-htpy : unpointed-htpy-pointed-Π f h htpy-concat-pointed-htpy = htpy-pointed-htpy G ∙h htpy-pointed-htpy H coherence-point-concat-pointed-htpy : coherence-point-unpointed-htpy-pointed-Π f h htpy-concat-pointed-htpy coherence-point-concat-pointed-htpy = horizontal-pasting-coherence-triangle-identifications ( preserves-point-function-pointed-Π f) ( preserves-point-function-pointed-Π g) ( preserves-point-function-pointed-Π h) ( htpy-pointed-htpy G (point-Pointed-Type A)) ( htpy-pointed-htpy H (point-Pointed-Type A)) ( coherence-point-pointed-htpy G) ( coherence-point-pointed-htpy H) concat-pointed-htpy : f ~∗ h pr1 concat-pointed-htpy = htpy-concat-pointed-htpy pr2 concat-pointed-htpy = coherence-point-concat-pointed-htpy

### Inverses of pointed homotopies

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Fam l2 A} {f g : pointed-Π A B} (H : f ~∗ g) where htpy-inv-pointed-htpy : unpointed-htpy-pointed-Π g f htpy-inv-pointed-htpy = inv-htpy (htpy-pointed-htpy H) coherence-point-inv-pointed-htpy : coherence-point-unpointed-htpy-pointed-Π g f htpy-inv-pointed-htpy coherence-point-inv-pointed-htpy = transpose-top-coherence-triangle-identifications ( preserves-point-function-pointed-Π g) ( preserves-point-function-pointed-Π f) ( htpy-pointed-htpy H (point-Pointed-Type A)) ( refl) ( coherence-point-pointed-htpy H) inv-pointed-htpy : g ~∗ f pr1 inv-pointed-htpy = htpy-inv-pointed-htpy pr2 inv-pointed-htpy = coherence-point-inv-pointed-htpy

## Properties

### Extensionality of pointed dependent function types by pointed homotopies

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Fam l2 A} (f : pointed-Π A B) where abstract is-torsorial-pointed-htpy : is-torsorial (pointed-htpy f) is-torsorial-pointed-htpy = is-torsorial-Eq-structure ( is-torsorial-htpy _) ( function-pointed-Π f , refl-htpy) ( is-torsorial-Id _) pointed-htpy-eq : (g : pointed-Π A B) → f ＝ g → f ~∗ g pointed-htpy-eq .f refl = refl-pointed-htpy f abstract is-equiv-pointed-htpy-eq : (g : pointed-Π A B) → is-equiv (pointed-htpy-eq g) is-equiv-pointed-htpy-eq = fundamental-theorem-id ( is-torsorial-pointed-htpy) ( pointed-htpy-eq) extensionality-pointed-Π : (g : pointed-Π A B) → (f ＝ g) ≃ (f ~∗ g) pr1 (extensionality-pointed-Π g) = pointed-htpy-eq g pr2 (extensionality-pointed-Π g) = is-equiv-pointed-htpy-eq g eq-pointed-htpy : (g : pointed-Π A B) → f ~∗ g → f ＝ g eq-pointed-htpy g = map-inv-equiv (extensionality-pointed-Π g)

### Extensionality of pointed maps

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Type l2} (f : A →∗ B) where extensionality-pointed-map : (g : A →∗ B) → (f ＝ g) ≃ (f ~∗ g) extensionality-pointed-map = extensionality-pointed-Π f

### Associativity of composition of pointed maps

module _ {l1 l2 l3 l4 : Level} {A : Pointed-Type l1} {B : Pointed-Type l2} {C : Pointed-Type l3} {D : Pointed-Type l4} (h : C →∗ D) (g : B →∗ C) (f : A →∗ B) where htpy-inv-associative-comp-pointed-map : unpointed-htpy-pointed-Π (h ∘∗ (g ∘∗ f)) ((h ∘∗ g) ∘∗ f) htpy-inv-associative-comp-pointed-map = refl-htpy coherence-point-inv-associative-comp-pointed-map : coherence-point-unpointed-htpy-pointed-Π ( h ∘∗ (g ∘∗ f)) ( (h ∘∗ g) ∘∗ f) ( htpy-inv-associative-comp-pointed-map) coherence-point-inv-associative-comp-pointed-map = right-whisker-concat-coherence-triangle-identifications ( ap ( map-pointed-map h) ( ( ap ( map-pointed-map g) ( preserves-point-pointed-map f)) ∙ ( preserves-point-pointed-map g))) ( ap (map-pointed-map h) _) ( ap (map-comp-pointed-map h g) (preserves-point-pointed-map f)) ( preserves-point-pointed-map h) ( ( ap-concat ( map-pointed-map h) ( ap (map-pointed-map g) (preserves-point-pointed-map f)) ( preserves-point-pointed-map g)) ∙ ( inv ( right-whisker-concat ( ap-comp ( map-pointed-map h) ( map-pointed-map g) ( preserves-point-pointed-map f)) ( ap (map-pointed-map h) (preserves-point-pointed-map g))))) inv-associative-comp-pointed-map : h ∘∗ (g ∘∗ f) ~∗ (h ∘∗ g) ∘∗ f pr1 inv-associative-comp-pointed-map = htpy-inv-associative-comp-pointed-map pr2 inv-associative-comp-pointed-map = coherence-point-inv-associative-comp-pointed-map htpy-associative-comp-pointed-map : unpointed-htpy-pointed-Π ((h ∘∗ g) ∘∗ f) (h ∘∗ (g ∘∗ f)) htpy-associative-comp-pointed-map = refl-htpy coherence-associative-comp-pointed-map : coherence-point-unpointed-htpy-pointed-Π ( (h ∘∗ g) ∘∗ f) ( h ∘∗ (g ∘∗ f)) ( htpy-associative-comp-pointed-map) coherence-associative-comp-pointed-map = inv coherence-point-inv-associative-comp-pointed-map associative-comp-pointed-map : (h ∘∗ g) ∘∗ f ~∗ h ∘∗ (g ∘∗ f) pr1 associative-comp-pointed-map = htpy-associative-comp-pointed-map pr2 associative-comp-pointed-map = coherence-associative-comp-pointed-map

### The left unit law for composition of pointed maps

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Type l2} (f : A →∗ B) where htpy-left-unit-law-comp-pointed-map : id ∘ map-pointed-map f ~ map-pointed-map f htpy-left-unit-law-comp-pointed-map = refl-htpy coherence-left-unit-law-comp-pointed-map : coherence-point-unpointed-htpy-pointed-Π ( id-pointed-map ∘∗ f) ( f) ( htpy-left-unit-law-comp-pointed-map) coherence-left-unit-law-comp-pointed-map = right-unit ∙ ap-id (preserves-point-pointed-map f) left-unit-law-comp-pointed-map : id-pointed-map ∘∗ f ~∗ f pr1 left-unit-law-comp-pointed-map = htpy-left-unit-law-comp-pointed-map pr2 left-unit-law-comp-pointed-map = coherence-left-unit-law-comp-pointed-map htpy-inv-left-unit-law-comp-pointed-map : map-pointed-map f ~ id ∘ map-pointed-map f htpy-inv-left-unit-law-comp-pointed-map = refl-htpy coherence-point-inv-left-unit-law-comp-pointed-map : coherence-point-unpointed-htpy-pointed-Π ( f) ( id-pointed-map ∘∗ f) ( htpy-inv-left-unit-law-comp-pointed-map) coherence-point-inv-left-unit-law-comp-pointed-map = inv coherence-left-unit-law-comp-pointed-map inv-left-unit-law-comp-pointed-map : f ~∗ id-pointed-map ∘∗ f pr1 inv-left-unit-law-comp-pointed-map = htpy-inv-left-unit-law-comp-pointed-map pr2 inv-left-unit-law-comp-pointed-map = coherence-point-inv-left-unit-law-comp-pointed-map

### The right unit law for composition of pointed maps

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Type l2} (f : A →∗ B) where htpy-right-unit-law-comp-pointed-map : map-pointed-map f ∘ id ~ map-pointed-map f htpy-right-unit-law-comp-pointed-map = refl-htpy coherence-right-unit-law-comp-pointed-map : coherence-point-unpointed-htpy-pointed-Π ( f ∘∗ id-pointed-map) ( f) ( htpy-right-unit-law-comp-pointed-map) coherence-right-unit-law-comp-pointed-map = refl right-unit-law-comp-pointed-map : f ∘∗ id-pointed-map ~∗ f pr1 right-unit-law-comp-pointed-map = htpy-right-unit-law-comp-pointed-map pr2 right-unit-law-comp-pointed-map = coherence-right-unit-law-comp-pointed-map

### Concatenation of pointed homotopies is a binary equivalence

module _ {l1 l2 : Level} {A : Pointed-Type l1} {B : Pointed-Fam l2 A} {f g h : pointed-Π A B} where abstract is-equiv-concat-pointed-htpy : (G : f ~∗ g) → is-equiv (λ (H : g ~∗ h) → concat-pointed-htpy G H) is-equiv-concat-pointed-htpy G = is-equiv-map-Σ _ ( is-equiv-concat-htpy (htpy-pointed-htpy G) _) ( λ H → is-equiv-horizontal-pasting-coherence-triangle-identifications ( preserves-point-function-pointed-Π f) ( preserves-point-function-pointed-Π g) ( preserves-point-function-pointed-Π h) ( htpy-pointed-htpy G _) ( H _) ( coherence-point-pointed-htpy G)) equiv-concat-pointed-htpy : f ~∗ g → (g ~∗ h) ≃ (f ~∗ h) pr1 (equiv-concat-pointed-htpy G) = concat-pointed-htpy G pr2 (equiv-concat-pointed-htpy G) = is-equiv-concat-pointed-htpy G abstract is-equiv-concat-pointed-htpy' : (H : g ~∗ h) → is-equiv (λ (G : f ~∗ g) → concat-pointed-htpy G H) is-equiv-concat-pointed-htpy' H = is-equiv-map-Σ _ ( is-equiv-concat-htpy' _ (htpy-pointed-htpy H)) ( λ G → is-equiv-horizontal-pasting-coherence-triangle-identifications' ( preserves-point-function-pointed-Π f) ( preserves-point-function-pointed-Π g) ( preserves-point-function-pointed-Π h) ( G _) ( htpy-pointed-htpy H _) ( coherence-point-pointed-htpy H)) equiv-concat-pointed-htpy' : g ~∗ h → (f ~∗ g) ≃ (f ~∗ h) pr1 (equiv-concat-pointed-htpy' H) G = concat-pointed-htpy G H pr2 (equiv-concat-pointed-htpy' H) = is-equiv-concat-pointed-htpy' H is-binary-equiv-concat-pointed-htpy : is-binary-equiv (λ (G : f ~∗ g) (H : g ~∗ h) → concat-pointed-htpy G H) pr1 is-binary-equiv-concat-pointed-htpy = is-equiv-concat-pointed-htpy' pr2 is-binary-equiv-concat-pointed-htpy = is-equiv-concat-pointed-htpy

## See also

## Recent changes

- 2024-03-13. Egbert Rijke.
*Refactoring pointed types (#1056).* - 2024-02-06. Egbert Rijke and Fredrik Bakke.
*Refactor files about identity types and homotopies (#1014).* - 2023-10-31. maybemabeline and Fredrik Bakke.
*Universal property of smash products (#865).* - 2023-09-12. Egbert Rijke.
*Factoring out whiskering (#756).* - 2023-09-10. Fredrik Bakke.
*Rename*`inv-con`

and`con-inv`

to`left/right-transpose-eq-concat`

(#730).