 A space equipped with such an atlas is called a "manifold" and additional structure can be defined on a manifold if the structure is consistent where the coordinate maps overlap.For example, a differentiable manifold is a manifold where the change of coordinates from one coordinate map to another is always a differentiable function.In geometry and kinematics, coordinate systems are used to describe the (linear) position of points and the angular position of axes, planes, and rigid bodies.