"The modular function is a continuous group homomorphism from G to the multiplicative group of positive real numbers. A group is called unimodular if the modular function is identically , or, equivalently, if the Haar measure is both left and right invariant. Examples of unimodular groups are abelian groups, compact groups, discrete groups (e.g., finite groups), semisimple Lie groups and connected nilpotent Lie groups.[citation needed] An example of a non-unimodular group is the group of affine transformations
