  This work is devoted to the relativistic generalization of Chasles' theorem,
namely to the proof that every proper orthochronous isometry of Minkowski
spacetime, which sends some point to its chronological future, is generated
through the frame displacement of an observer which moves with constant
acceleration and constant angular velocity. The acceleration and angular
velocity can be chosen either aligned or perpendicular, and in the latter case
the angular velocity can be chosen equal or smaller than than the acceleration.
We start reviewing the classical Euler's and Chasles' theorems both in the Lie
algebra and group versions. We recall the relativistic generalization of
Euler's theorem and observe that every (infinitesimal) transformation can be
recovered from information of algebraic and geometric type, the former being
identified with the conjugacy class and the latter with some additional
geometric ingredients (the screw axis in the usual non-relativistic version).
Then the proper orthochronous inhomogeneous Lorentz Lie group is studied in
detail. We prove its exponentiality and identify a causal semigroup and the
corresponding Lie cone. Through the identification of new Ad-invariants we
classify the conjugacy classes, and show that those which admit a causal
representative have special physical significance. These results imply a
classification of the inequivalent Killing vector fields of Minkowski spacetime
which we express through simple representatives. Finally, we arrive at the
mentioned generalization of Chasles' theorem.
