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[Riemannian Manifolds](@id RiemannianManifolds)

CurrentModule = Manopt

All manifolds inherit from Manifold to store their main properties, which is most prominently the manifold dimension and the name of the manifold. This will be extended in the future, for example properties denoting whether the manifold is explicitly given in the sense of a closed form exponential and logarithmic map for example, or only approximately.

A Riemannian manifold in Manopt.jl consist of three types:

Manifold
MPoint
TVector

[List of available Manifolds](@id Manifolds)

Furthermore there are two types accompanying each manifold – a point on the manifold inheriting from MPoint and the tangent vector TVector. For both the term manifold is shortened to M for concise naming. Each manifold also inherits such a short abbreviation, see Abbr. in the following table.

Manifold $\mathcal M$ File Abbr. Comment
A manifold $\mathcal M$ Manifold.jl M
[$1$-sphere $\mathbb S^1$](@ref CircleManifold) Circle.jl S1 represented as angles $x\in[-\pi,\pi)$
[Euclidean space $\mathbb R^n$](@ref EuclideanSpace) Euclidean.jl Rn $n$-dimensional Euclidean space $\mathbb R^n$
[Grassmannian manifold $\mathrm{Gr}(k,n)$](@ref GrassmannianManifold) Grassmannian.jl Gr embedded in $\mathbb R^{n\times k}$
[$n$-dim. Hyperbolic space $\mathbb H^n$](@ref HyperbolicManifold) Hyperbolic.jl Hn embedded in $\mathbb R^{n+1}$
[special orthogonal group $\mathrm{SO}(n)$](@ref SOn) Rotations.jl SO represented as rotation matrices
[$n$-sphere $\mathbb S^n$](@ref SphereManifold) Sphere.jl Sn embedded in $\mathbb R^{n+1}$
[Stiefel $\mathrm{St}(k,n)$](@ref StiefelManifold) Stiefel.jl St contains both the real- ad the complex-valued case
[symmetric matrices $\mathcal{Sym}(n)$](@ref SymmetricManifold) Symmetric.jl Sym $n\times n$ symmetric matrices
[symmetric positive definite matrices $\mathcal P(n)$](@ref SymmetricPositiveDefiniteManifold) SymmetricPositiveDefinite.jl SPD $n\times n$ symmetric positive matrices using the affine metric

If you're missing your favorite manifold, give us a note on Github.

Special Types of Manifolds

Manifolds build upon Manifolds

Manifold $\mathcal M$ File Abbr. Comment
Power manifold Power.jl Pow Builds $\mathcal N^{d_1\times\cdot\times d_k}$ of any manifold $\mathcal N$
Product manifold Product.jl Prod Build the product manifold $\mathcal N_1\times\cdots\times\mathcal N_k$ of manifolds
Tangent bundle TangentBundle.jl TB tangent bundle of a manifold, i.e. the set of all tuples $(x,\xi), \xi \in T_x\mathcal M$, $x\in\mathcal M$ with the induced metric.

for more details see [Combined Manifolds](@ref CombinedManifolds)

Special Properties of Manifolds

Special types of manifolds are introduced by SimpleTraits.jl. They can be used to clarify that a manifold possesses a certain property. For example two points on a matrix manifold can be multiplied, though the result is not necessarily a point on the manifold anymore. Traits have to goals here: Provide functions that are common for all manifolds of such a type (e.g. the for Lie groups) as a common interface and to specify certain functions or solvers for these certain types, that for example take advantage of then.

Embedded Manifold

IsEmbeddedM
IsEmbeddedP
IsEmbeddedV

[Lie Group Manifold](@id LieGroup)

IsLieGroupM
IsLieGroupP
IsLieGroupV
⊗

[Matrix Manifold](@id MatrixManifold)

IsMatrixM
IsMatrixP
IsMatrixTV

Functions that need to be implemented for a Manifold

If you plan to implement a new manifold within Manopt.jl, the following functions should be implemented. If you only implement a few of these functions, not all algorithms might work. all these functions have a fallback providing an error message if the function is not (yet) implemented. Otherwise, for example, if the field of the inner representant of MPoint or TVector is the field .value of your data structure, the default implementation of getValue directly works. In the following list M <: Manifold the manifold type represents the manifold Q,P <: MPoint the type of a point on the new manifold, T <: TVector a corresponding tangent vector in a suitable tangent space,

addNoise(M::mT, x::P, options...) where {mT <: Manifold, P <: MPoint}
distance(M::mT, x::T, y::T) where {mT <: Manifold, T <: MPoint}
dot(M::mT, x::P, ξ::T, ν::S) where {mT <: Manifold, P <: MPoint, T <: TVector, S <: TVector}
exp(M::mT, x::P, ξ::T,t::Float64=1.0) where {mT<:Manifold, P<:MPoint, T<:TVector, N<:Number}
getValue(ξ::P) where {P <: MPoint}
getValue(ξ::T) where {T <: TVector}
log(::mT,::P,::Q) where {mT<:Manifold, P<:MPoint, Q<:MPoint}
manifoldDimension(::P) where {P <: MPoint}
manifoldDimension(::mT) where {mT <: Manifold}
norm(::mT,::P,::T) where {mT<:Manifold, P<: MPoint, T<:TVector}
parallelTransport(::mT,::P,::Q,::T) where {mT <: Manifold, P <: MPoint, Q <: MPoint, T <: TVector}
randomMPoint(M::mT,s::Symbol,options...) where {mT <: Manifold}
randomTVector(M::mT,p::P,s::Symbol,options...) where {mT <: Manifold, P<: MPoint}
tangentONB(::mT, ::P, ::Q) where {mT <: Manifold, P <: MPoint, Q <: MPoint}
tangentONB(::mT, ::P, ::T) where {mT <: Manifold, P <: MPoint, T <: TVector}
typeofMPoint(::T) where {T <: TVector}
typeofMPoint(::Type{T}) where {T <: TVector}
typeofTVector(::P) where {P <: MPoint}
typeofTVector(::Type{P}) where {P <: MPoint}
typicalDistance(M::mT) where {mT <: Manifold}
zeroTVector(::mT, ::P) where {mT <: Manifold, P <: MPoint}

Functions implemented for a general manifold

the following base functions are implemented for general manifolds and are based on the functions from the last section

adjointJacobiField
geodesic
jacobiField
Manopt.mean
Manopt.median
midPoint
reflection
variance

A decorator for checks and validation

In order to check and/or validate tangent vectors, the decorator pattern TVectorE is available for any subtype of TVector as follows

TVectorE

together with a small helper MPointE that indicates to the log to returns an extended tangent vector as soon as one of its arguments is an extended manifold point.

MPointE

for these two data items, the following additional features that are activated

Inheritance

Basic functions like exp, log, parallelTransport, and randomTVector return an extended MPointE or TVectorE whenever one of its arguments is an extended input. This enables, that setting (only) one input for a calculation to an extended version, this property propagates this into all the algorithm.

Note that this might increase memory usage and hence reduce performance, since for any TVectorE internally stores both a TVector as well as its base MPoint (as extension).

Checks

checkBasePoint

For extended data decorators, whenever possible in the basic functions listed above a checkBasePoint completely automatically performed. For example, when calling exp(M,x,ξ), as soon as ξ is an extended vector, checkBasePoint(x,ξ) is called before performing the original exponential map.

This way, as many checks are performed, whether corresponding points and vectors or two vectors involved have the correct base points.

Validation

Every extended type carries a further boolean validation, whose default is true, i.e. to perform validation. activating validation one needs to implement the following two functions, otherwise, a lot of warnings might occur.

validateMPoint(::mT, ::P) where {mT <: Manifold, P <: MPoint}
validateTVector(::mT,::P,::T) where {mT<:Manifold, P<: MPoint, T<:TVector}

whenever possible (see checkBasePoint above). Since such a validation might not be available for your favorite manifold, you can deactivate validation by setting the boolean to false. Every new extended type inherits the false, whenever one of its part (i.e. either the TVector or MPoint) has validation set to false.

So while checking as often as possible, this feature can easily be deactivated.

Internals

To access the inner value of MPointE and the base stored in TVectorE you can use

strip
getBasePoint

Furthermore the following functions are mapping to the internally stored data and encapsulate the results with the extended variant if applicable

as well as mathematical operators on tangent vectors and comparison operators.

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