From 0c5d1624794c147aa6db9e9d8eefc3abe3d1e386 Mon Sep 17 00:00:00 2001
From: Mateusz Baran <mateuszbaran89@gmail.com>
Date: Fri, 23 Aug 2024 20:43:14 +0200
Subject: [PATCH] optimized defaults for inverse_translate_diff! of groups with
 left-invariant storage

---
 NEWS.md             |  2 +-
 src/groups/group.jl | 44 ++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 45 insertions(+), 1 deletion(-)

diff --git a/NEWS.md b/NEWS.md
index 1f1f55080..a242a2838 100644
--- a/NEWS.md
+++ b/NEWS.md
@@ -5,7 +5,7 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
-## [0.10.0] – unreleased
+## [0.10.0] – 2024-08-24
 
 ### Changed
 
diff --git a/src/groups/group.jl b/src/groups/group.jl
index 537e50436..02438a70b 100644
--- a/src/groups/group.jl
+++ b/src/groups/group.jl
@@ -1081,6 +1081,50 @@ function inverse_translate_diff!(
     BG = base_group(G)
     return translate_diff!(BG, Y, inv(BG, p), q, X, conv)
 end
+function inverse_translate_diff!(
+    ::TraitList{<:IsGroupManifold{<:AbstractGroupOperation,LeftInvariantRepresentation}},
+    G::AbstractDecoratorManifold,
+    Y,
+    ::Any,
+    ::Any,
+    X,
+    ::LeftForwardAction,
+)
+    return copyto!(G, Y, X)
+end
+function inverse_translate_diff!(
+    ::TraitList{<:IsGroupManifold{<:AbstractGroupOperation,LeftInvariantRepresentation}},
+    G::AbstractDecoratorManifold,
+    Y,
+    ::Any,
+    ::Any,
+    X,
+    ::RightForwardAction,
+)
+    return copyto!(G, Y, X)
+end
+function inverse_translate_diff!(
+    ::TraitList{<:IsGroupManifold{<:AbstractGroupOperation,LeftInvariantRepresentation}},
+    G::AbstractDecoratorManifold,
+    Y,
+    p,
+    ::Any,
+    X,
+    ::LeftBackwardAction,
+)
+    return adjoint_action!(G, Y, p, X, RightAction())
+end
+function inverse_translate_diff!(
+    ::TraitList{<:IsGroupManifold{<:AbstractGroupOperation,LeftInvariantRepresentation}},
+    G::AbstractDecoratorManifold,
+    Y,
+    p,
+    ::Any,
+    X,
+    ::RightBackwardAction,
+)
+    return adjoint_action!(G, Y, p, X, LeftAction())
+end
 
 """
     log_inv(G::AbstractManifold, p, q)