fix a few bugs and increase test cov.

JuliaManifolds · Oct 30, 2024 · 1e6dad6 · 1e6dad6
1 parent 8b193eb
commit 1e6dad6
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Showing 2 changed files with 23 additions and 14 deletions.
diff --git a/src/group_operations/multiplication_operation.jl b/src/group_operations/multiplication_operation.jl
@@ -100,7 +100,7 @@ function diff_conjugate!(
 ) where {𝔽}
     inv_right_compose!(G, Y, X, g) # Y = Xg^{-1}
     compose!(G, Y, g, Y) # Y = gY
-    return copyto!(LieAlgebra(G), Y, X)
+    return Y
 end
 
 _doc_diff_inv_mult = """
@@ -324,19 +324,12 @@ function LinearAlgebra.mul!(
     return copyto!(q, p)
 end
 function LinearAlgebra.mul!(
-    q::Union{AbstractMatrix,Number},
+    q::Union{AbstractMatrix},
     ::Identity{<:AbstractMultiplicationGroupOperation},
     ::Identity{<:AbstractMultiplicationGroupOperation},
 )
     return copyto!(q, I)
 end
-function LinearAlgebra.mul!(
-    q,
-    ::Identity{<:AbstractMultiplicationGroupOperation},
-    ::Identity{<:AbstractMultiplicationGroupOperation},
-)
-    return copyto!(q, one(q))
-end
 function LinearAlgebra.mul!(
     q::Identity{<:AbstractMultiplicationGroupOperation},
     ::Identity{<:AbstractMultiplicationGroupOperation},

diff --git a/test/operations/test_multiplication_operation.jl b/test/operations/test_multiplication_operation.jl
@@ -1,4 +1,4 @@
-using LieGroups, Test
+using LieGroups, LinearAlgebra, Test
 
 s = joinpath(@__DIR__, "..", "LieGroupsTestSuite.jl")
 !(s in LOAD_PATH) && (push!(LOAD_PATH, s))
@@ -23,12 +23,28 @@ using LieGroupsTestSuite
         ea = Identity(AdditionGroupOperation)
         @test ea * e === e
         @test e * ea === e
-        # Zero array
-        g2 = fill(2.0, ())
-        # Array
-        g3 = [2.0 0.0; 0.0 2.0]
         M = LieGroupsTestSuite.DummyManifold()
         G = LieGroup(M, MatrixMultiplicationGroupOperation())
+        # Zero-dimensional array
+        g2 = fill(2.0, ())
+        X2 = fill(1.0, ())
+        @test diff_inv(G, g2, X2) == fill(-1.0, ())
+        # Array
+        g3 = [2.0 0.0; 1.0 2.0]
         @test inv(G, e) === e
+        h3 = zero(g3)
+        X3 = [1.0 0.0; 0.0 2.0]
+        @test diff_conjugate(G, g3, g3, X3) = g3 * X3 * inv(g3)
+        # inplace-multiplication with e
+        h3 = zero(g3)
+        mul!(h3, e, g3)
+        @test h3 == g3
+        h3 = zero(g3)
+        mul!(h3, g3, e)
+        @test h3 == g3
+        mul!(h3, e, e)
+        @test h3 == I
+        @test mul!(e, e, e) === e
+        @test one(e) === e
     end
 end