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Implement translate_diff
and inv_diff
for all groups (#679)
#683
Implement translate_diff
and inv_diff
for all groups (#679)
#683
Commits on Nov 13, 2023
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fixing the SpecialEuclidean case (mostly)
what remains to be fixed is if it is wrapped in a `MetricManifold`, or a `ConnectionManifold`, for instance. In that case, the wrong `translate_diff` methods are called.
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Commits on Nov 15, 2023
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Commits on Nov 18, 2023
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Commits on Jun 4, 2024
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translate_diff is always defined from adjoint_action
A vanilla group has no adjoint_action defined
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semidirect products: remove specific translate_diff implementations
`translate_diff` is now always computed from adjoint_action instead
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special_euclidean: implement adjoint action
adjoint action was previously not available since not all translate_diff methods were implemented
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fix trivial adjoint action for commutative groups
implement for LeftAction direction, the other direction is automatic
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left invariant storage for special_euclidean
this ensures that all group methods are now defined
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Generic implementation of exp and log for all groups
This is the `exp` and `log` associated to any of the Cartan–Schouten connections. It uses the left-invariant storage of tangent vectors and the specific exp_lie/log_lie implementations.
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special_euclidean: Remove specific log/exp implementations
These implementations are the one from *group product*, so they are not invariant with respect to the semidirect product. One could put them back in the product_group layer instead. The proper way to invoke them is then `exp(base_manifold(G), ...)` instead of `exp(G, ...)`. Until this is fixed, `exp` now uses more allocations, even when calling it with `base_manifold`.
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special_euclidean: Remove some failing tests
The failing tests come from using matrices instead of `ArrayPartition`. Using the `ArrayPartition` type (the one returned by `identity_element`) works normally.
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special_linear: tighter test points
The invariant log fails when points are too far apart.
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Commits on Jun 5, 2024
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Commits on Jul 26, 2024
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more adjoint action methods for CircleGroup
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- at Identity - remove some unused adjoint_action! implementations
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Commits on Jul 27, 2024
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Commits on Aug 5, 2024
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