fix lie_bracket on new groups

JuliaManifolds · Nov 28, 2024 · 6fd33ee · 6fd33ee
1 parent e6b17de
commit 6fd33ee
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/src/groups/power_group.jl b/src/groups/power_group.jl
@@ -257,7 +257,7 @@ function inv!(
 end
 
 function lie_bracket!(
-    PoA::LieAlgebra{𝔽,<:LieGroup{𝔽,Op,M}}, Z, X, Y
+    PoA::LieAlgebra{𝔽,Op,<:LieGroup{𝔽,Op,M}}, Z, X, Y
 ) where {𝔽,Op<:PowerGroupOperation,M<:ManifoldsBase.AbstractPowerManifold}
     PM = PoA.manifold.manifold
     rep_size = representation_size(PM)
@@ -270,6 +270,7 @@ function lie_bracket!(
             ManifoldsBase._read(PM, rep_size, Y, i),
         )
     end
+    return Z
 end
 
 function ManifoldsBase.log!(

diff --git a/src/groups/product_group.jl b/src/groups/product_group.jl
@@ -245,12 +245,12 @@ function inv!(
 end
 
 function lie_bracket!(
-    PrA::LieAlgebra{𝔽,<:LieGroup{𝔽,Op,M}}, Z, X, Y
+    PrA::LieAlgebra{𝔽,Op,<:LieGroup{𝔽,Op,M}}, Z, X, Y
 ) where {𝔽,Op<:ProductGroupOperation,M<:ManifoldsBase.ProductManifold}
     PrM = PrA.manifold.manifold
     map(
         lie_bracket!,
-        LieAlgebra.(LieGroup.(PrM.manifolds, PrA.op.operations)),
+        LieAlgebra.(LieGroup.(PrM.manifolds, PrA.manifold.op.operations)),
         submanifold_components(PrM, Z),
         submanifold_components(PrM, X),
         submanifold_components(PrM, Y),