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@github-actions github-actions released this 02 Oct 11:55
· 12 commits to main since this release
v0.1.4
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LieGroups v0.1.4

Diff since v0.1.3

Added

  • mention adjoint_matrix in the transition documentation (#52)
  • introduce jacobian_exp for the Jacobian of the exponential function.
  • Introduce a AbstractActionActsOnType to distinguish, what previously was called “side”,
    i.e. whether an action acts on the left (ActionActsOnLeft) or right (ActionActsOnRight)
  • Introduce _inv and _inv! functions for the inverse operation to work the same way as _compose and _compose!, respectively.
  • introduce a LeftMultiplicationGroupAction to represent left multiplication actions on Lie groups. While this is a bit more of a technical
    name, it replaces the old ComplexPlanarRotation, QuaternionRotation, and RotationAction, since in the GroupAction this type is coupled with a group and a manifold anyway.
  • further methods for the LeftMultiplicationGroupAction to cover the previous functionality of e.g.
    • RotationTranslationActionOnVector
  • Add the Special Galilean Group (#60)

Fixed

  • Fixed an issue where internally the product manifold in a SemidirectProductLieGroup was accidentally splashed
  • make × and ProductLieGroup behave the same way as × and ProductManifold do
  • Fixed an issue, where exp!(G, h, g, X) would return a wrong result if the input gand the output hare aliased (#63).
  • Fixed issues with the documentation of diff_left_compose and diff_right_compose that were inconsistent
  • fixed push_forward_tangent and pull_back_tangent which on general Lie groups provided a wrong default.
  • fixes an allocation bug for apply and diff_apply (#52)

Merged pull requests:

  • Porting the SpecialGalileanGroup from RoME (#60) (@Affie)
  • Test and fix exp! issue from #63 (#64) (@Affie)
  • Transfer more elements from Manifolds.jl (#65) (@kellertuer)
  • Improve how product and semidirect Lie group constructors act. (#66) (@kellertuer)
  • Refactor the semidirect product Lie group to cover all cases from GroupManifolds. (#67) (@Affie)
  • Test 8 Semidirect Product combinations, add compose associativity test, and fix compose alias bug (#68) (@Affie)
  • Test Semidirect Product against expected inv results and fix inv/compose combinations (#70) (@Affie)

Closed issues:

  • Add a SpecialGalileanGroup (#11)
  • Issue with exp! when h === g on SpecialOrthogonalGroup (#63)

Contributors

kellertuer and Affie
Assets 2
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