v0.1.3

LieGroups v0.1.3

Diff since v0.1.2

Added

• introduce push_forward_tangent and pull_back_tangent to combine the differential of left compose and its inverse to “move” from the Lie algebra to a certain tangent space and back, but also takes care of adapting the representation, for the case where the representation on the manifold is different from the one on the Lie group / Lie algebra.
• introduce a BaseManifoldRetraction to be able to use retractions on the underlying manifold also as a retraction on the Lie group, cf. (#43) and (#47). This feature assumes that the representation of points and tangent vectors on Lie group and the underlying manifold are the same (so it doesn't work with special Euclidean group with homogeneous coordinates).

Changed

• Switch to using Runic.jl as code formatter

Fixed

• Fixed a typo, where within was misspelled as widthin which caused errors in a few places.
• fix default_basis for LieGroup to return a DefaultLieAlgebraOrthogonalBasis also when providing a point type. That way get_vector falls back to the manifold when called with a Lie group and a point, though this is mere a historical format and the Lie algebra approach is the recommended one.
• mention get_coordinates, get_vector, hat, and vee in the transition documentation since it moved to using the LieAlgebra instead of the Lie group and a point.
• Fixed RightGroupOperationAction to be a subtype of AbstractRightGroupActionType
• Add lie_bracket for the SpecialEuclideanGroup.
• For the CircleGroup(ℝ), fixed compose StackOverflowError and a bug where result could be outside [-π,π), see (#62) for detail.

Merged pull requests:

• Use retractions, inverse retractions or vector transports on the base manifold (#47) (@kellertuer)
• Fix a typo (#55) (@kellertuer)
• hat/vee and get_vector improvements (#56) (@kellertuer)
• Add the lie_bracket for the SpecialEuclideanGroup (#58) (@Affie)
• Fix RightGroupOperationAction bug (#59) (@Affie)
• Switch Code formatter to using Runic.jl (#61) (@kellertuer)
• Fix compose in CircleGroup(ℝ) (#62) (@Affie)

Closed issues:

• Using retractions on the underlying manifold (#43)
• ValidationLieGroup Method errors: possible typo and submanifold_components (#54)
• lie_bracket possibly not implemented for semidirect products: throws method error for SE(n) (#57)