On the Whitney Extension-Interpolation-Alignment problem for almost isometries with small distortion in $Bbb R^D$

Let $Dgeq 2$, $Ssubset mathbb R^D$ be finite and let $phi:Sto mathbb R^D$ with $phi$ a small distortion on $S$. We solve the Whitney extension-interpolation-alignment problem of how to understand when $phi$ can be extended to a function $Phi:mathbb R^Dto mathbb R^D$ which is a smooth small distortion on $mathbb R^D$. Our main results are in addition to Whitney extensions, results on interpolation and alignment of data in $mathbb R^D$ and complement those of [14,15,20].