Johannes Terblanche

Thanks for all the feedback and discussion. I have 2 questions: 1. Do I understand it correctly then that: `Optim.jl`'s `retract!(M, x)` is equivalent to `Manifolds.jl`'s `project(M, p)` where `x`...

Thanks, so for 2 it stays on the tangent space. Then it looks like the relevant `Manifolds.jl` function is: [`project(M::Manifold, p, X)` ](https://juliamanifolds.github.io/Manifolds.jl/latest/interface.html#ManifoldsBase.project!-Tuple{Manifold,Any,Any,Any}) >Project ambient space representation of a vector...

@dehann, Thanks for writing this up. I come from not knowing any of the general manifold math and definitions and only a user of the rigid transform groups and algebras,...

I'm still not following the discussion from @dehann's example and semi-direct product manifolds. I wrote the pseudo code in julia as I understand it: ```julia julia> using Manifolds julia> using...

Thanks for all your patience and help while I'm learning more about manifolds and the Manifolds.jl implimentation.

I've seen the plus operator (⊕) used in robotics. This example is how I understand it can be used with Manifolds.jl (we should maybe add something like this in this...

Sorry I could have been clearer, it is defined in the code comment: > `p2 = X2 ⊕ p1` as `p2 = compose(M, exp(M, I_SE2, X2), p1)` I'm just making...

I just found this article and it's quite helpful: https://arxiv.org/pdf/1812.01537.pdf. It also gives the differences I tried to show in https://github.com/JuliaManifolds/Manifolds.jl/pull/366#issuecomment-854613353 clearer (p11): 

> Thanks for this link, it's quite helpful, but note that it has a slightly different approach to Lie groups than Manifolds.jl. As far as I can see our SE(n)...

Hi, don't know if you have seen this: https://discourse.julialang.org/t/implications-of-compile-min-and-optimize-0-for-dummies/56894 Hope it helps