Fix #78 (#79)

* Fix #78

* bump version

* getindex ambiguities are fine

* added zenodo fix to news

Author: mateuszbaran

NEWS.md

@@ -5,6 +5,17 @@ All notable Changes to the Julia package `LieGroups.jl` will be documented in th
 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).
 
+## [0.1.7] 2025-10-28
+
+### Added
+
+* `NestedPowerRepresentation` and `NestedReplacingPowerRepresentation` are now re-exported from `ManifoldsBase.jl`.
+* `getindex` access to parts of a point of tangent vector represented by a matrix with `:Rotation` and `:Translation` as indices. For example, when `g` is a point on any variant of the special euclidean group, `g[G, :Translation]` will return the translation part of `g` regardless of whether `G` is the left or right semidirect product even when `g` is a matrix.
+
+### Fixed
+
+* Zenodo metadata.
+
 ## [0.1.6] 2025-10-10
 
 ### Fixed

Project.toml

@@ -1,7 +1,7 @@
 name = "LieGroups"
 uuid = "6774de46-80ba-43f8-ba42-e41071ccfc5f"
 authors = ["Seth Axen <[email protected]>", "Mateusz Baran <[email protected]>", "Ronny Bergmann <[email protected]>", "Yueh-Hua Tu", "Olivier Verdier <[email protected]>"]
-version = "0.1.6"
+version = "0.1.7"
 
 [deps]
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"

ext/LieGroupsRecursiveArrayToolsExt/special_euclidean_group_RAT_ext.jl

@@ -168,6 +168,35 @@ function ManifoldsBase.exp!(
     return g
 end
 
+function Base.getindex(
+        g::ArrayPartition,
+        G::SpecialEuclideanGroup,
+        s::Union{Symbol, Int},
+    )
+    return submanifold_component(G, g, s)
+end
+function Base.getindex(
+        g::ArrayPartition,
+        G::SpecialEuclideanGroup,
+        ::Colon,
+    )
+    return submanifold_components(G, g)
+end
+function Base.getindex(
+        g::ArrayPartition,
+        𝔤::LieAlgebra{ℝ, <:LieGroups.SpecialEuclideanGroupOperation, <:SpecialEuclideanGroup},
+        s::Union{Symbol, Int},
+    )
+    return submanifold_component(𝔤, g, s)
+end
+function Base.getindex(
+        g::ArrayPartition,
+        𝔤::LieAlgebra{ℝ, <:LieGroups.SpecialEuclideanGroupOperation, <:SpecialEuclideanGroup},
+        ::Colon,
+    )
+    return submanifold_components(𝔤, g)
+end
+
 function LieGroups.identity_element(
         G::SpecialEuclideanGroup, ::Type{<:SpecialEuclideanProductPoint{A}}
     ) where {A <: ArrayPartition}

src/LieGroups.jl

@@ -93,6 +93,7 @@ include("groups/special_galilean_group.jl")
 export AbstractLieGroup
 export LieGroup, LieAlgebra
 export PowerLieGroup, ProductLieGroup
+export NestedPowerRepresentation, NestedReplacingPowerRepresentation
 export LeftSemidirectProductLieGroup, RightSemidirectProductLieGroup
 export ValidationLieGroup
 export DefaultLieAlgebraOrthogonalBasis

src/groups/power_group.jl

@@ -216,6 +216,12 @@ function ManifoldsBase.exp!(
     return h
 end
 
+Base.@propagate_inbounds function Base.getindex(
+        p::AbstractArray, PoG::LieGroup{𝔽, Op, M}, I::Union{Integer, Colon, AbstractVector}...,
+    ) where {𝔽, Op <: PowerGroupOperation, M <: ManifoldsBase.AbstractPowerManifold}
+    return get_component(base_manifold(PoG), p, I...)
+end
+
 function ManifoldsBase.hat!(
         Po𝔤::LieAlgebra{𝔽, Op, LieGroup{𝔽, Op, M}}, X, c
     ) where {𝔽, Op <: PowerGroupOperation, M <: ManifoldsBase.AbstractPowerManifold}

src/groups/special_euclidean_group.jl

@@ -460,15 +460,15 @@ Use `:` to access all submanifold components as a unified tuple.
 
 @doc "$(_doc_getindex_SE)"
 function Base.getindex(
-        g::Union{SpecialEuclideanMatrixPoint, SpecialEuclideanProductPoint, Identity},
+        g::Union{SpecialEuclideanMatrixPoint, SpecialEuclideanProductPoint, Identity, AbstractMatrix},
         G::SpecialEuclideanGroup,
         s::Union{Symbol, Int},
     )
     return submanifold_component(G, g, s)
 end
 
 function Base.getindex(
-        g::Union{SpecialEuclideanMatrixPoint, SpecialEuclideanProductPoint, Identity},
+        g::Union{SpecialEuclideanMatrixPoint, SpecialEuclideanProductPoint, Identity, AbstractMatrix},
         G::SpecialEuclideanGroup,
         ::Colon,
     )
@@ -477,7 +477,7 @@ end
 
 @doc "$(_doc_getindex_SE)"
 function Base.getindex(
-        g::Union{SpecialEuclideanMatrixTangentVector, SpecialEuclideanProductTangentVector},
+        g::Union{SpecialEuclideanMatrixTangentVector, SpecialEuclideanProductTangentVector, AbstractMatrix},
         𝔤::LieAlgebra{ℝ, <:SpecialEuclideanGroupOperation, <:SpecialEuclideanGroup},
         s::Union{Symbol, Int},
     )
@@ -486,7 +486,7 @@ end
 
 @doc "$(_doc_getindex_SE)"
 function Base.getindex(
-        g::Union{SpecialEuclideanMatrixTangentVector, SpecialEuclideanProductTangentVector},
+        g::Union{SpecialEuclideanMatrixTangentVector, SpecialEuclideanProductTangentVector, AbstractMatrix},
         𝔤::LieAlgebra{ℝ, <:SpecialEuclideanGroupOperation, <:SpecialEuclideanGroup},
         ::Colon,
     )

test/groups/test_power_group.jl

@@ -20,6 +20,10 @@ using LieGroupsTestSuite
     pG2 = PowerLieGroup(TranslationGroup(2), NestedPowerRepresentation(), 2)
     g, h = [[1.0, 0.0], [0.0, 3.0]], [[0.0, 1.0], [2.0, 0.0]]
     X, Y = [[0.0, 0.1], [0.2, 0.0]], [[0.1, 0.2], [0.0, 0.3]]
+    @testset "convencience access" begin
+        @test g[pG2, 1] === g[1]
+    end
+
     properties2 = Dict(
         :Name => "The generic nested Power Manifold",
         :Points => [g, h],

test/groups/test_special_euclidean_group.jl

@@ -72,6 +72,17 @@ using StaticArrays
                 SpecialEuclideanMatrixTangentVector
             @test ManifoldsBase.tangent_vector_type(G, SpecialEuclideanProductPoint) ==
                 SpecialEuclideanProductTangentVector
+
+            # convenience access
+            @test (pts[1])[G, :Translation] isa AbstractVector
+            @test (pts[1])[G, :] isa Tuple
+            @test (pts[1])[G, :Rotation] isa AbstractMatrix
+
+            𝔤 = LieAlgebra(G)
+
+            @test (vec[1])[𝔤, :Translation] isa AbstractVector
+            @test (vec[1])[𝔤, :] isa Tuple
+            @test (vec[1])[𝔤, :Rotation] isa AbstractMatrix
         end
         #
         # Right variant – exchange product cases

test/test_aqua.jl

@@ -6,12 +6,7 @@ using Aqua, LieGroups, Test, LinearAlgebra
         ambiguities = (
             broken = false,
             exclude = [
-                Base.:+, #temporary ambiguities between Manifolds.Identity and LieGroups.Identity
-                Base.:-, #temporary ambiguities between Manifolds.Identity and LieGroups.Identity
-                Base.:*, #temporary ambiguities between Manifolds.Identity and LieGroups.Identity
-                Base.:/, #temporary ambiguities between Manifolds.Identity and LieGroups.Identity
-                Base.:\, #temporary ambiguities between Manifolds.Identity and LieGroups.Identity
-                LinearAlgebra.mul!, #temporary ambiguities between Manifolds.Identity and LieGroups.Identity
+                getindex, # ambiguities from convenience access methods; they were manually verified as safe
             ],
         ),
     )