Merge pull request #40 from JuliaManifolds/schild-and-pole

Introduce Schilds and Pole ladder

Author: kellertuer

.travis.yml

@@ -580,6 +580,9 @@ decorated_manifold(M::Manifold) = M.manifold
 
 @decorator_transparent_signature manifold_dimension(M::AbstractDecoratorManifold)
 
+@decorator_transparent_signature mid_point(M::AbstractDecoratorManifold, p1, p2)
+@decorator_transparent_signature mid_point!(M::AbstractDecoratorManifold, q, p1, p2)
+
 @decorator_transparent_signature number_system(M::AbstractDecoratorManifold)
 
 @decorator_transparent_signature project(M::AbstractDecoratorManifold, p)
@@ -633,6 +636,30 @@ decorated_manifold(M::Manifold) = M.manifold
     X,
     c,
 )
+@decorator_transparent_signature vector_transport_along!(
+    M::AbstractDecoratorManifold,
+    Y,
+    p,
+    X,
+    c::AbstractVector,
+    m::AbstractVectorTransportMethod,
+)
+@decorator_transparent_signature vector_transport_along!(
+    M::AbstractDecoratorManifold,
+    Y,
+    p,
+    X,
+    c::AbstractVector,
+    m::PoleLadderTransport,
+)
+@decorator_transparent_signature vector_transport_along!(
+    M::AbstractDecoratorManifold,
+    Y,
+    p,
+    X,
+    c::AbstractVector,
+    m::SchildsLadderTransport,
+)
 
 @decorator_transparent_signature vector_transport_direction(
     M::AbstractDecoratorManifold,
@@ -671,5 +698,22 @@ decorated_manifold(M::Manifold) = M.manifold
     q,
     m::ProjectionTransport,
 )
+@decorator_transparent_signature vector_transport_to!(
+    M::AbstractDecoratorManifold,
+    Y,
+    p,
+    X,
+    q,
+    m::PoleLadderTransport,
+)
+@decorator_transparent_signature vector_transport_to!(
+    M::AbstractDecoratorManifold,
+    Y,
+    p,
+    X,
+    q,
+    m::SchildsLadderTransport,
+)
 
+@decorator_transparent_signature zero_tangent_vector(M::AbstractDecoratorManifold, p)
 @decorator_transparent_signature zero_tangent_vector!(M::AbstractDecoratorManifold, X, p)

appveyor.yml

@@ -38,14 +38,13 @@ function check_tangent_vector(M::DefaultManifold, p, X; check_base_point = true,
     return nothing
 end
 
-distance(::DefaultManifold, x, y) = norm(x - y)
+distance(::DefaultManifold, p, q) = norm(p - q)
 
-embed!(::DefaultManifold, y, x) = copyto!(y, x)
+embed!(::DefaultManifold, q, p) = copyto!(q, p)
 
-embed!(::DefaultManifold, w, x, v) = copyto!(w, v)
+embed!(::DefaultManifold, Y, p, X) = copyto!(Y, X)
 
-
-exp!(::DefaultManifold, y, x, v) = (y .= x .+ v)
+exp!(::DefaultManifold, q, p, X) = (q .= p .+ X)
 
 function get_basis(M::DefaultManifold, p, B::DefaultOrthonormalBasis)
     return CachedBasis(B, [_euclidean_basis_vector(p, i) for i in eachindex(p)])
@@ -74,36 +73,53 @@ end
 
 injectivity_radius(::DefaultManifold) = Inf
 
-@inline inner(::DefaultManifold, x, v, w) = dot(v, w)
+@inline inner(::DefaultManifold, p, X, Y) = dot(X, Y)
 
-log!(::DefaultManifold, v, x, y) = (v .= y .- x)
+log!(::DefaultManifold, Y, p, q) = (Y .= q .- p)
 
 @generated function manifold_dimension(::DefaultManifold{T,𝔽}) where {T,𝔽}
     return *(T.parameters...) * real_dimension(𝔽)
 end
 
 number_system(::DefaultManifold{T,𝔽}) where {T,𝔽} = 𝔽
 
-norm(::DefaultManifold, x, v) = norm(v)
+norm(::DefaultManifold, p, X) = norm(X)
 
-project!(::DefaultManifold, y, x) = copyto!(y, x)
-project!(::DefaultManifold, w, x, v) = copyto!(w, v)
+project!(::DefaultManifold, q, p) = copyto!(q, p)
+project!(::DefaultManifold, Y, p, X) = copyto!(Y, X)
 
 @generated representation_size(::DefaultManifold{T}) where {T} = Tuple(T.parameters...)
 
 function vector_transport_along!(
     ::DefaultManifold,
-    vto,
-    x,
-    v,
-    c,
+    Y,
+    p,
+    X,
+    c::AbstractVector,
     ::AbstractVectorTransportMethod,
 )
-    return copyto!(vto, v)
+    return copyto!(Y, X)
+end
+for VT in VECTOR_TRANSPORT_DISAMBIGUATION
+    eval(
+        quote
+            @invoke_maker 6 AbstractVectorTransportMethod vector_transport_along!(
+                M::DefaultManifold,
+                Y,
+                p,
+                X,
+                c::AbstractVector,
+                B::$VT,
+            )
+        end,
+    )
 end
 
-function vector_transport_to!(::DefaultManifold, vto, x, v, y, ::ParallelTransport)
-    return copyto!(vto, v)
+function vector_transport_to!(::DefaultManifold, Y, p, X, q, ::ParallelTransport)
+    return copyto!(Y, X)
+end
+function vector_transport_to!(M::DefaultManifold, Y, p, X, q, ::ProjectionTransport)
+    return project!(M, Y, q, X)
 end
 
-zero_tangent_vector!(::DefaultManifold, v, x) = fill!(v, 0)
+zero_tangent_vector!(::DefaultManifold, Y, p) = fill!(Y, 0)

src/DecoratorManifold.jl

@@ -343,6 +343,34 @@ function decorator_transparent_dispatch(
 ) where {𝔽}
     return Val(:transparent)
 end
+function decorator_transparent_dispatch(
+    ::typeof(mid_point),
+    ::AbstractEmbeddedManifold,
+    args...,
+)
+    return Val(:parent)
+end
+function decorator_transparent_dispatch(
+    ::typeof(mid_point),
+    ::AbstractEmbeddedManifold{𝔽,<:TransparentIsometricEmbedding},
+    args...,
+) where {𝔽}
+    return Val(:transparent)
+end
+function decorator_transparent_dispatch(
+    ::typeof(mid_point!),
+    ::AbstractEmbeddedManifold,
+    args...,
+)
+    return Val(:parent)
+end
+function decorator_transparent_dispatch(
+    ::typeof(mid_point!),
+    ::AbstractEmbeddedManifold{𝔽,<:TransparentIsometricEmbedding},
+    args...,
+) where {𝔽}
+    return Val(:transparent)
+end
 function decorator_transparent_dispatch(::typeof(norm), ::AbstractEmbeddedManifold, args...)
     return Val(:intransparent)
 end
@@ -495,15 +523,45 @@ function decorator_transparent_dispatch(
 end
 function decorator_transparent_dispatch(
     ::typeof(vector_transport_to!),
-    ::AbstractEmbeddedManifold,
-    args...,
-)
+    ::AbstractEmbeddedManifold{𝔽,<:E},
+    Y,
+    p,
+    X,
+    q,
+    ::T,
+) where {𝔽,T,E}
     return Val(:intransparent)
 end
+function decorator_transparent_dispatch(
+    ::typeof(vector_transport_to!),
+    ::AbstractEmbeddedManifold{𝔽,<:E},
+    Y,
+    p,
+    X,
+    q,
+    ::Union{PoleLadderTransport,SchildsLadderTransport},
+) where {𝔽,E}
+    return Val(:parent)
+end
 function decorator_transparent_dispatch(
     ::typeof(vector_transport_to!),
     ::AbstractEmbeddedManifold{𝔽,<:TransparentIsometricEmbedding},
-    args...,
+    Y,
+    p,
+    X,
+    q,
+    ::Union{PoleLadderTransport,SchildsLadderTransport},
 ) where {𝔽}
+    return Val(:parent)
+end
+function decorator_transparent_dispatch(
+    ::typeof(vector_transport_to!),
+    ::AbstractEmbeddedManifold{𝔽,<:TransparentIsometricEmbedding},
+    Y,
+    p,
+    X,
+    q,
+    ::T,
+) where {𝔽,T}
     return Val(:transparent)
 end