Manifolds.jl v0.10#732
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mateuszbaran merged 90 commits intomasterfrom Aug 24, 2024
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what remains to be fixed is if it is wrapped in a `MetricManifold`, or a `ConnectionManifold`, for instance. In that case, the wrong `translate_diff` methods are called.
A vanilla group has no adjoint_action defined
`translate_diff` is now always computed from adjoint_action instead
adjoint action was previously not available since not all translate_diff methods were implemented
implement for LeftAction direction, the other direction is automatic
this ensures that all group methods are now defined
This is the `exp` and `log` associated to any of the Cartan–Schouten connections. It uses the left-invariant storage of tangent vectors and the specific exp_lie/log_lie implementations.
These implementations are the one from *group product*, so they are not invariant with respect to the semidirect product. One could put them back in the product_group layer instead. The proper way to invoke them is then `exp(base_manifold(G), ...)` instead of `exp(G, ...)`. Until this is fixed, `exp` now uses more allocations, even when calling it with `base_manifold`.
The failing tests come from using matrices instead of `ArrayPartition`. Using the `ArrayPartition` type (the one returned by `identity_element`) works normally.
The invariant log fails when points are too far apart.
more adjoint action methods for CircleGroup
- at Identity - remove some unused adjoint_action! implementations
…ds.jl into mbaran/lightfolds
mateuszbaran
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I think this is more or less ready for review now. I don't see any more breaking changes worth making. |
kellertuer
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Here are a few comments, mainly on the tutorial. Am I right that this is based on another PR this would close as well then?
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The first part of the tutorial is copied from #355 with minor editing so we can close that PR after this is merged. |
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(Approved of course besides a bump in the version that is missing ;) )
This was referenced Aug 24, 2024
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List of changes:
translate_diffandinv_difffor all groups (#679) #683 into here and finish it.With these weak dependencies, load time of Manifolds.jl is reduced to 0.72 s on my PC. To go lower we'd have to turn both Graphs.jl and StaticArrays.jl into weak dependencies but that seems to be too much work for too little gain, and basically everything else either has marginal impact on load time or is indispensable.