Manifolds.jl
Manifolds.jl copied to clipboard
Extend `identity_element` to more manifolds
See https://github.com/JuliaRobotics/IncrementalInference.jl/issues/1527 for discussion.
Isn't this already resolved now with #503 ?
No, these two things are unrelated.
AH, ok, then I mixed that up.
But still, to be precise I would only like to add identity_element
to Lie groups to be precise?
I think the idea would be to also define identity_element
to manifolds that can have a group structure but I'm not sure it's a good idea anyway.
I see that point, but I would prefer to be a little more precise. For example if the have GL(n)
which has as manifold Euclidean(n,n)
(not all of that, ok, I am not creative enough just now for a better example) what is the right identity? For GL(n)
it would ne matrix multiplication so I
but for the translation group on Euclidean(n,n)
its zeros(n,n)
. So just the manifold might not be enough to know the group structure and hence the identity element?
I don't think we currently have multiple groups structures with different identity elements (Euclidean and GL are topologically different) but in the future we could encounter such case, right.
Yes (that's why I was lazy with an example).