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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[0.10.7] โ€“ 2024-11-16

Added

  • adjoint_matrix for Lie groups, with optimized implementations for SO(2), SO(3), SE(2) and SE(3).

[0.10.6] โ€“ 2024-11-06

Added

  • Two new actions: ComplexPlanarRotation, QuaternionRotation.
  • New function quaternion_rotation_matrix for converting quaternions to rotation matrices.
  • make.jl script now has more command line arguments, for example --exclude-tutorials when you do not want to build the tutorials but still look at the docs. See make.jl --help for more information.

[0.10.5] โ€“ 2024-10-24

Added

  • the manifold InvertibleMatrices of invertible matrices

Changed

  • rewrote the CONTRIBUTING.md and adapt it to today's links and references.

[0.10.4] - 2024-10-20

Added

  • uniform_distribution now has an error hint explaining what has to be done to make it work.
  • Euclidean now follows the new has_components function from ManifoldsBase.jl (0.15.18) and can handle also the r-norms now.
  • Union type MatrixGroup
  • Columnwise group action with arbitrary matrix groups
  • uniform_distribution now has an error hint explaining what has to be done to make it work.
  • lie_bracket is exactly zero on orthogonal Lie algebra in 2D

[0.10.3] - 2024-10-04

Changed

  • Mildly breaking: the number system parameter now corresponds to the coefficients standing in front of basis vectors in a linear combination instead of components of a vector. For example, DefaultOrthonormalBasis() == DefaultOrthonormalBasis(โ„) of Euclidean(3, field=โ„‚) now has 6 vectors, and DefaultOrthonormalBasis(โ„‚) of the same manifold has 3 basis vectors.

Fixed

  • Fixed solve_exp_ode only returning the starting position (#744)
  • Fixed documentation of solve_exp_ode function signature (#740)

[0.10.2] - 2024-09-24

Added

  • GroupManifold can now be called with two arguments, the third one defaulting to LeftInvariantRepresentation.

Changed

  • fixes a few typographical errors.

[0.10.1] โ€“ 2024-08-29

Changed

  • identity_element on ProductManifold without RecursiveArrayTools.jl now prints a useful error message.

[0.10.0] โ€“ 2024-08-24

Changed

  • Distributions.jl, RecursiveArrayTools.jl and HybridArrays.jl were moved to weak dependencies to reduce load time and improve extensibility.
  • translate_diff, inv_diff and thus apply_diff_group, are available for all the groups with invariant tangent vector storage.
  • SpecialEuclidean group now has a different default tangent vector representation, the left-invariant one; to get the old representation pass vectors=HybridTangentRepresentation() to the constructor of SpecialEuclidean.
  • adjoint_action takes a direction argument; by default it is LeftAction.
  • adjoint_action! is the necessary method to implement in groups with left-invariant tangent vector representation.
  • Fixed a few typos in the doc string of the SPD fixed determinant description.
  • Random point on the MultinomialSymmetricPositiveDefinite manifold was improved to make it more robust.

Added

  • Introduced exp_inv and log_inv based on exp_lie and log_lie. They are invariant to the group operation.
  • A tutorial about usage of group-related functionality.

Removed

  • Deprecated bindings:
    • ExtrinsicEstimation() (should be replaced with ExtrinsicEstimation(EfficientEstimator())),
    • Symplectic (renamed to SymplecticMatrices),
    • SymplecticMatrix (renamed to SymplecticElement).
    • AbstractEstimationMethod (renamed to AbstractApproximationMethod).
    • VectorBundleVectorTransport (renamed to FiberBundleProductVectorTransport).
    • rand on SymplecticMatrices and SymplecticStiefel no longer accepts hamiltonian_norm as an alias for ฯƒ.
    • mean! and median! no longer accept extrinsic_method (should be replaced with e = ExtrinsicEstimation(extrinsic_method)).
  • As a result of making Distributions.jl and RecursiveArrayTools.jl weak dependencies the following symbols are no longer exported from Manifolds.jl. Essential functionality is still available but distribution-related features may change in the future without a breaking release.
    • ArrayPartition (RecursiveArrayTools.jl needs to be explicitly imported),
    • ProjectedPointDistribution (not exported),
    • normal_tvector_distribution (not exported),
    • projected_distribution (not exported),
    • uniform_distribution (not exported).
  • Ability to create non-real SymplecticStiefel and SymplecticGrassmann manifolds; essential functionality was missing so it was removed until a more developed version is developed.

[0.9.20] โ€“ 2024-06-17

Added

  • implemented parallel transport on the Grassmann manifold with respect to Stiefel representation

Changed

  • since now all exp/log/parallel transport are available for all representations of Grassmann, these are now also set as defaults, since they are more exact.

[0.9.19] โ€“ 2024-06-12

Changed

  • Updated Project.toml compatibility entries.
  • Updated CI for Julia 1.11-beta

Fixed

  • a few typos in the doc string of the SPD fixed determinant description
  • several other typographical errors throughout the documentation

[0.9.18] โ€“ 2024-05-07

Added

  • added the injectivity radius for the Stiefel manifold with Euclidean metric

[0.9.17] โ€“ 2024-04-23

Added

  • Hyperrectangle manifold with boundary.

[0.9.16] โ€“ 2024-04-01

Changed

  • NonlinearSolve.jl and PythonCall.jl are no longer an upper bounded dependency (bugs were fixed).

[0.9.15] โ€“ 2024-03-24

Added

  • using DocumenterInterLinks for links to other Julia packages documentation.
  • Implementation of sectional_curvature, sectional_curvature_min and sectional_curvature_max for several manifolds.
  • sectional_curvature_matrix function and a tutorial on coordinate-free curvature.

Changed

  • default_vector_transport_method for GeneralUnitaryMatrices other than Rotations was changed to ProjectionTransport.

Fixed

  • typographical errors in tutorials/working-in-charts.jl.
  • several typographical errors in the docs
  • unifies to use two backticks `` for math instead of $ further in the docs

[0.9.14] โ€“ 2024-01-31

Added

  • rand on UnitaryMatrices
  • rand on arbitrary GroupManifolds and manifolds with IsGroupManifold trait generating points and elements from the Lie algebra, respectively

[0.9.13] โ€“ 2024-01-24

Added

  • added the real symplectic Grassmann manifold SymplecticGrassmann
  • Introduce the manifold of HamiltonianMatrices and a wrapper for Hamiltonian matrices
  • introduce rand(:HamiltonianMatrices)
  • extend rand to also rand! for HamiltonianMatrices, SymplecticMatrices and SymplecticStiefel
  • implement riemannian_gradient conversion for SymplecticMatrices and SymplecticGrassmann
  • the new manifold of MultinomialSymmetricPositiveDefinite matrices
  • rand! for MultinomialDoublyStochastic and MultinomialSymmetric

Deprecated

  • Rename Symplectic to SimplecticMatrices in order to have a Symplectic wrapper for such matrices as well in the future for the next breaking change.
  • Rename SymplecticMatrix to SymplecticElement to clarify that it is the special matrix $J_{2n}$ and not an arbitrary symplectic matrix.

Fixed

  • a bug that cause project for tangent vectors to return wrong results on MultinomialDoublyStochastic

[0.9.12] โ€“ 2024-01-21

Fixed

  • Fixed var on TranslationGroup.

[0.9.11] โ€“ 2023-12-27

Fixed

  • Fixed mixed array index number in-place parallel_transport_to! on zero-index Euclidean, on Julia 1.6.

[0.9.10] โ€“ 2023-12-27

Added

  • Compatibility with RecursiveArrayTools v3.

Fixed

  • Fixed mixed array index number in-place parallel_transport_to! on real Circle, on Julia 1.6.
  • Violations of MD004 lint rule in this file.

[0.9.9] โ€“ 2023-12-25

Fixed

  • introduced a nonzero atol for all point and vector checks that compre to zero. This makes those checks a bit more relaxed by default and resolves #630.
  • default_estimation_method(M, f) is deprecated, use default_approximation_method(M, f) for your specific method f on the manifold M.
  • AbstractEstimationMethod is deprecated, use AbstractApproximationMethod instead.

[0.9.8] - 2023-11-17

Fixed

  • Improved distribution of random vector generation for rotation matrices and complex circle.

[0.9.7] โ€“ 2023-11-14

Fixed

[0.9.6] - 2023-11-09

Fixed

[0.9.5] - 2023-11-08

Changed

  • identity_element now returns a complex matrix for unitary group.
  • number_of_coordinates is now exported.

[0.9.4] - 2023-11-06

Added

  • Functions inv_diff, inv_diff!, adjoint_inv_diff and adjoint_inv_diff! that correspond to differentials and pullbacks of group inversion.
  • Julia 1.10-rc CI workflow.

Changed

  • Documentation project files are marked as compatible with BoundaryValueDiffEq v5.

Fixed

  • Fixed issue with incorrect implementation of apply_diff_group in GroupOperationAction with left backward and right forward action #669.

[0.9.3] - 2023-10-28

Added

  • Support for BoundaryValueDiffEq v5.

[0.9.2] - 2023-10-27

Added

  • rand(G; vector_at=Identity(G)) now works for translation, special orthogonal and special Euclidean groups G (issue #665).
  • get_embedding now works for GeneralUnitaryMultiplicationGroup.
  • Github action that checks for NEWS.md changes.

[0.9.1] - 2023-10-25

Added

  • a new retraction and its inverse for the fixed Rank Manifolds, the orthographic retraction.

[0.9.0] - 2023-10-24

Added

  • Vector bundles are generalized to fiber bundles. Old BundleFibers functionality was reworked to better match mathematical abstractions. Fiber bundle functionality is experimental and minor changes may happen without a breaking release, with the exception of TangentBundle which is considered to be stable.
  • RotationTranslationAction is introduced.

Changed

  • Sizes of all manifolds can now be either encoded in type or stored in a field to avoid over-specialization. The default is set to store the size in type parameter (except for PowerManifold and its variants), replicating the previous behavior. For field storage, pass the parameter=:field keyword argument to manifold constructor. For example statically sized CenteredMatrices{m,n} is now CenteredMatrices{TypeParameter{Tuple{m,n}}}, whereas the type of special Euclidean group with field-stored size is CenteredMatrices{Tuple{Int,Int}}. Similar change applies to:

    • CenteredMatrices{m,n},
    • CholeskySpace{N},
    • Elliptope{N,K},
    • Euclidean,
    • FixedRankMatrices{m,n,k},
    • KendallsPreShapeSpace{n,k},
    • KendallsShapeSpace{n,k},
    • GeneralLinear{n},
    • GeneralUnitaryMultiplicationGroup{n},
    • GeneralizedGrassmann{n,k},
    • GeneralizedStiefel{n,k},
    • Grassmann{n,k},
    • Heisenberg{n},
    • Hyperbolic{n},
    • MultinomialMatrices{N,M},
    • MultinomialDoublyStochastic{n},
    • MultinomialSymmetric{n},
    • Orthogonal{n},
    • PowerManifold,
    • PositiveArrays,
    • PositiveMatrices,
    • PositiveNumbers,
    • ProbabilitySimplex{n},
    • SPDFixedDeterminant{n},
    • SpecialLinear{n},
    • SpecialOrthogonal{n},
    • SpecialUnitary{n},
    • SpecialEuclidean{n},
    • SpecialEuclideanManifold{n},
    • Spectrahedron{n,k},
    • SphereSymmetricMatrices{N},
    • Stiefel{n,k},
    • SymmetricMatrices{N},
    • SymmetricPositiveDefinite{n},
    • SymmetricPositiveSemidefiniteFixedRank{n,k},
    • Symplectic{n},
    • SymplecticStiefel{n,k},
    • TranslationGroup,
    • Tucker.

    For example

    function Base.show(io::IO, ::CenteredMatrices{m,n}) where {m,n}
    return print(io, "CenteredMatrices($m, $n)")
end

    needs to be replaced with

    function Base.show(io::IO, ::CenteredMatrices{TypeParameter{Tuple{m,n}}}) where {m,n}
    return print(io, "CenteredMatrices($m, $n)")
end

    for statically-sized groups and

    function Base.show(io::IO, M::CenteredMatrices{Tuple{Int,Int}})
    m, n = get_parameter(M.size)
    return print(io, "CenteredMatrices($m, $n; parameter=:field)")
end

    for groups with size stored in field. Alternatively, you can use a single generic method like this:

    function Base.show(io::IO, M::CenteredMatrices{T}) where {T}
    m, n = get_parameter(M)
    if T <: TypeParameter
        return print(io, "CenteredMatrices($m, $n)")
    else
        return print(io, "CenteredMatrices($m, $n; parameter=:field)")
    end
end

  • Argument order for type aliases RotationActionOnVector and RotationTranslationActionOnVector: most often dispatched on argument is now first.

  • A more consistent handling of action direction was introduced. 4-valued ActionDirection was split into 2-valued ActionDirection (either left or right action) and GroupActionSide (action acting from the left or right side). See https://github.com/JuliaManifolds/Manifolds.jl/issues/637 for a design discussion.

Removed

  • ProductRepr is removed; please use ArrayPartition instead.
  • Default methods throwing "not implemented" ErrorException for some group-related operations. Standard MethodError is now thrown instead.
  • LinearAffineMetric was deprecated in a previous release and the symbol is now removed. Please use AffineInvariantMetric instead.