start the group tutorial, remove two exp and log methods that sho…

…uldn't be there

docs/make.jl

@@ -110,6 +110,7 @@ makedocs(;
             "perform Hand gesture analysis" => "tutorials/hand-gestures.md",
             "integrate on manifolds and handle probability densities" => "tutorials/integration.md",
             "explore curvature without coordinates" => "tutorials/exploring-curvature.md",
+            "work with groups" => "tutorials/groups.md",
         ],
         "Manifolds" => [
             "Basic manifolds" => [

src/groups/semidirect_product_group.jl

@@ -265,57 +265,3 @@ function submanifold_components(
 )
     return map(N -> Identity(N), M.manifolds)
 end
-
-function log(
-    ::TraitList{
-        <:IsGroupManifold{<:SemidirectProductOperation,<:LeftInvariantRepresentation},
-    },
-    G::AbstractDecoratorManifold,
-    p,
-    q,
-)
-    BG = base_group(G)
-    return log_lie(BG, compose(BG, inv(BG, p), q))
-end
-function log!(
-    ::TraitList{
-        <:IsGroupManifold{<:SemidirectProductOperation,<:LeftInvariantRepresentation},
-    },
-    G::AbstractDecoratorManifold,
-    X,
-    p,
-    q,
-)
-    x = allocate_result(G, inv)
-    BG = base_group(G)
-    inv!(BG, x, p)
-    compose!(BG, x, x, q)
-    log_lie!(BG, X, x)
-    return X
-end
-function exp(
-    ::TraitList{
-        <:IsGroupManifold{<:SemidirectProductOperation,<:LeftInvariantRepresentation},
-    },
-    G::AbstractDecoratorManifold,
-    p,
-    X,
-    t::Number=1,
-)
-    BG = base_group(G)
-    return compose(BG, p, exp_lie(BG, t * X))
-end
-function exp!(
-    ::TraitList{
-        <:IsGroupManifold{<:SemidirectProductOperation,<:LeftInvariantRepresentation},
-    },
-    G::AbstractDecoratorManifold,
-    q,
-    p,
-    X,
-)
-    BG = base_group(G)
-    exp_lie!(BG, q, X)
-    compose!(BG, q, p, q)
-    return q
-end

tutorials/groups.qmd

@@ -0,0 +1,40 @@
+---
+title: work with groups
+---
+
+```{julia}
+#| echo: false
+#| code-fold: true
+#| output: false
+using Pkg;
+cd(@__DIR__)
+Pkg.activate("."); # for reproducibility use the local tutorial environment.
+Pkg.develop(path="../") # a trick to work on the local dev version
+using Markdown
+```
+
+This is a short overview of group support in [`Manifolds.jl`](https://juliamanifolds.github.io/Manifolds.jl/) and how to get started working with them.
+
+Groups currently available in `Manifolds.jl` are listed in ``[group section](@ref GroupManifoldSection)``{=commonmark}.
+
+First, let's load libraries we will use
+
+```{julia}
+using Manifolds, RecursiveArrayTools
+```
+
+
+## Relationship between groups, metrics and connections
+
+
+Mention invariance and the difference between `exp` and `exp_lie`.
+
+
+## Literature
+
+````{=commonmark}
+```@bibliography
+Pages = ["groups.md"]
+Canonical=false
+```
+````