Implement the last three functions, dispatch for Lie algebra not yet …

…fully working.
JuliaManifolds · Nov 28, 2024 · bf0b181 · bf0b181
1 parent 9e0fde3
commit bf0b181
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Showing 4 changed files with 94 additions and 6 deletions.
diff --git a/src/groups/power_group.jl b/src/groups/power_group.jl
@@ -196,6 +196,21 @@ function ManifoldsBase.exp!(
     return h
 end
 
+function hat!(
+    PoG::LieGroup{𝔽,Op,M}, X, c
+) where {𝔽,Op<:PowerGroupOperation,M<:ManifoldsBase.AbstractPowerManifold}
+    PM = PoG.manifold
+    rep_size = representation_size(PM.manifold)
+    dim = manifold_dimension(PM.manifold)
+    v_iter = 1
+    G = LieGroup(PM.manifold, PoG.op.op)
+    for i in ManifoldsBase.get_iterator(PM)
+        hat!(G, ManifoldsBase._write(PM, rep_size, X, i), c[v_iter:(v_iter + dim - 1)])
+        v_iter += dim
+    end
+    return X
+end
+
 function identity_element!(
     PoG::LieGroup{𝔽,Op,M}, e
 ) where {𝔽,Op<:PowerGroupOperation,M<:ManifoldsBase.AbstractPowerManifold}
@@ -241,6 +256,22 @@ function inv!(
     return h
 end
 
+function lie_bracket!(
+    PoA::LieAlgebra{𝔽,<:LieGroup{𝔽,Op,M}}, Z, X, Y
+) where {𝔽,Op<:PowerGroupOperation,M<:ManifoldsBase.AbstractPowerManifold}
+    PM = PoA.manifold.manifold
+    rep_size = representation_size(PM)
+    𝔤 = LieAlgebra(LieGroup(PM.manifold, PoA.manifold.op.op))
+    for i in ManifoldsBase.get_iterator(PM)
+        lie_bracket!(
+            𝔤,
+            ManifoldsBase._write(PM, rep_size, Z, i),
+            ManifoldsBase._read(PM, rep_size, X, i),
+            ManifoldsBase._read(PM, rep_size, Y, i),
+        )
+    end
+end
+
 function ManifoldsBase.log!(
     PoG::LieGroup{𝔽,Op,M}, X, ::Identity{Op}, g
 ) where {𝔽,Op<:PowerGroupOperation,M<:ManifoldsBase.AbstractPowerManifold}
@@ -268,3 +299,18 @@ function Base.show(
     size = Manifolds.get_parameter(G.manifold.size)
     return print(io, "PowerLieGroup($L, $(join(size, ", ")))")
 end
+
+function vee!(
+    PoG::LieGroup{𝔽,Op,M}, c, X
+) where {𝔽,Op<:PowerGroupOperation,M<:ManifoldsBase.AbstractPowerManifold}
+    PM = PoG.manifold
+    rep_size = representation_size(PM.manifold)
+    dim = manifold_dimension(PM.manifold)
+    G = LieGroup(PM.manifold, PoG.op.op)
+    v_iter = 1
+    for i in ManifoldsBase.get_iterator(PM)
+        vee!(G, view(c, v_iter:(v_iter + dim - 1)), ManifoldsBase._read(PM, rep_size, X, i))
+        v_iter += dim
+    end
+    return c
+end
diff --git a/src/groups/product_group.jl b/src/groups/product_group.jl
@@ -191,6 +191,21 @@ function ManifoldsBase.exp!(
     return h
 end
 
+function hat!(
+    PrG::LieGroup{𝔽,Op,M}, X, c
+) where {𝔽,Op<:ProductGroupOperation,M<:ManifoldsBase.ProductManifold}
+    PrM = PrG.manifold
+    dims = map(manifold_dimension, PrM.manifolds)
+    @assert length(c) == sum(dims)
+    dim_ranges = ManifoldsBase._get_dim_ranges(dims)
+    Prc = map(dr -> (@inbounds view(c, dr)), dim_ranges)
+    ts = ManifoldsBase.ziptuples(PM.manifolds, submanifold_components(PM, X), Prc)
+    map(ts) do t
+        return hat!(t...)
+    end
+    return X
+end
+
 function identity_element!(
     PrG::LieGroup{𝔽,Op,M}, e
 ) where {𝔽,Op<:ProductGroupOperation,M<:ManifoldsBase.ProductManifold}
@@ -228,6 +243,20 @@ function inv!(
     return h
 end
 
+function lie_bracket!(
+    PrA::LieAlgebra{𝔽,<: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)),
+        submanifold_components(PrM, Z),
+        submanifold_components(PrM, X),
+        submanifold_components(PrM, Y),
+    )
+    return Z
+end
+
 function ManifoldsBase.log!(
     PrG::LieGroup{𝔽,Op,M}, X, ::Identity{Op}, g
 ) where {𝔽,Op<:ProductGroupOperation,M<:ManifoldsBase.ProductManifold}
@@ -249,3 +278,16 @@ function Base.show(
     ops = G.op.operations
     return print(io, "ProductLieGroup($(join(PrM, " × ")), $(join(ops, " × ")))")
 end
+
+function vee!(
+    PrG::LieGroup{𝔽,Op,M}, c, X
+) where {𝔽,Op<:ProductGroupOperation,M<:ManifoldsBase.ProductManifold}
+    PrM = PrG.manifold
+    map(
+        vee!,
+        LieGroup.(PrM.manifolds, PrG.op.operations),
+        submanifold_components(PrM, c),
+        submanifold_components(PrM, X),
+    )
+    return X
+end
diff --git a/test/groups/test_power_group.jl b/test/groups/test_power_group.jl
@@ -33,15 +33,15 @@ using LieGroupsTestSuite
             diff_left_compose,
             diff_right_compose,
             exp,
-            # hat,
+            hat,
             inv,
             inv_left_compose,
             inv_right_compose,
             is_identity,
-            # lie_bracket,
+            lie_bracket,
             log,
             rand,
-            # vee,
+            vee,
         ],
     )
     expectations2 = Dict(

diff --git a/test/groups/test_product_group.jl b/test/groups/test_product_group.jl
@@ -22,16 +22,16 @@ using LieGroupsTestSuite
             diff_left_compose,
             diff_right_compose,
             exp,
-            # hat,
+            hat,
             inv,
             inv_left_compose,
             inv_right_compose,
             is_identity,
-            # lie_bracket,
+            lie_bracket,
             log,
             rand,
             show,
-            #vee,
+            vee,
         ],
     )
     expectations = Dict(