Fix #665

NEWS.md

@@ -5,6 +5,12 @@ 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).
 
+## [0.9.2] - 2023-10-26
+
+### Added
+
+- `rand(G; vector_at=Identity(G))` now works for translation, special orthogonal and special Euclidean groups `G`.
+
 ## [0.9.1] - 2023-10-25
 
 ### Added

src/groups/GroupManifold.jl

@@ -102,7 +102,7 @@ function is_vector(
             return false
         end
     end
-    return is_vector(G.manifold, identity_element(G), X, false, te; kwargs...)
+    return is_vector(G.manifold, identity_element(G), X, false; error=error, kwargs...)
 end
 
 Base.show(io::IO, G::GroupManifold) = print(io, "GroupManifold($(G.manifold), $(G.op))")

src/groups/general_unitary_groups.jl

@@ -34,13 +34,16 @@ function allocate_result(
     return allocate(X)
 end
 function allocate_result(
-    ::GeneralUnitaryMultiplicationGroup,
+    M::GeneralUnitaryMultiplicationGroup,
     ::typeof(log),
     ::Identity{MultiplicationOperation},
     q,
 )
     return allocate(q)
 end
+function allocate_result(M::Rotations, ::typeof(rand), ::Identity{MultiplicationOperation})
+    return similar(Matrix{Float64}, representation_size(M)...)
+end
 
 decorated_manifold(G::GeneralUnitaryMultiplicationGroup) = G.manifold
 

src/groups/translation_group.jl

@@ -33,6 +33,10 @@ end
     end
 end
 
+function allocate_result(M::Euclidean, ::typeof(rand), ::Identity{AdditionOperation})
+    return similar(Array{Float64}, representation_size(M)...)
+end
+
 exp!(::TranslationGroup, q, ::Identity{AdditionOperation}, X) = copyto!(q, X)
 
 has_biinvariant_metric(::TranslationGroup) = true

test/groups/general_unitary_groups.jl

@@ -74,6 +74,9 @@ include("group_utils.jl")
             0.4070678736115306 0.10586374034761421 -0.43156436122007846 0.0
         ]
         @test volume_density(M, p, X) ≈ 0.710713830700454
+
+        # random Lie algebra element
+        @test is_vector(M, Identity(M), rand(M; vector_at=Identity(M)))
     end
 
     @testset "Unitary Group" begin

test/groups/special_euclidean.jl

@@ -100,6 +100,8 @@ using Manifolds:
             @test w2mat ≈ affine_matrix(G, pts[1]) * screw_matrix(G, X_pts[1])
             @test screw_matrix(G, w2mat) === w2mat
 
+            @test is_vector(G, Identity(G), rand(G; vector_at=Identity(G)))
+
             test_group(
                 G,
                 pts,

test/groups/translation_group.jl

@@ -1,6 +1,8 @@
 include("../utils.jl")
 include("group_utils.jl")
 
+using Manifolds: LeftForwardAction, RightBackwardAction
+
 @testset "Translation group" begin
     @testset "real" begin
         G = TranslationGroup(2, 3)
@@ -42,6 +44,8 @@ include("group_utils.jl")
                 test_vee_hat_from_identity=true,
             )
         end
+
+        @test is_vector(G, Identity(G), rand(G; vector_at=Identity(G)))
     end
 
     @testset "complex" begin