Then the tangent map of is of full rank at every point on .
We make an effective use of the theory of the Pfaffian of a given matrix . A good reference is in [2, XV,§9]. Especially important theorem we need to know is the following lemma.
Furthermore, if is an matrix in , then
Let us compare the Pfaffian of the both hand sides.
Since , we conclude that the determinant of should be equal to 1 or (-1).
Note: It goes without saying that when is connected, and if the coordinate systems and are able to chosen globally (for example if are affine space with
as the symplectic form), then the Jacobian of should either be on the whole of or be on the whole of .