Add inplace log_safe!

src/groups/general_linear.jl

@@ -150,13 +150,13 @@ function _log_project_SOn_S⁺!(X, q, n = size(q, 1))
     fill!(d, s)
     d[n] = det(F.U) * det(F.Vt) * s
     expX = F.U * Diagonal(d) * F.Vt
-    return copyto!(X, eltype(X) <: Real ? real(log_safe(expX)) : log_safe(expX))
+    return log_safe!(X, expX)
 end
 
 function log!(G::GeneralLinear{n}, X, p, q) where {n}
     pinvq = inverse_translate(G, p, q, LeftAction())
     if isnormal(pinvq; atol = sqrt(eps(real(eltype(pinvq)))))
-        copyto!(X, log_safe(pinvq))
+        log_safe!(X, pinvq)
     else
         𝔽 = number_system(G)
         if 𝔽 === ℝ

src/groups/group.jl

@@ -1051,6 +1051,6 @@ function group_exp!(G::MultiplicationGroup, q, X)
 end
 
 function group_log!(G::MultiplicationGroup, X, q)
-    q isa Union{Number,AbstractMatrix} && return copyto!(X, log_safe(q))
+    q isa Union{Number,AbstractMatrix} && return log_safe!(X, q)
     return error("group_log! not implemented on $(typeof(G)) for element $(typeof(q)) and vector $(typeof(X)).")
 end

src/utils.jl

@@ -68,6 +68,16 @@ converted to a `Matrix` before computing the log.
     return SizedMatrix{s[1],s[2]}(log(Matrix(parent(x))))
 end
 
+function log_safe!(Y, X)
+    if eltype(Y) <: Real
+        # handle imprecision by coercing to real
+        Y .= real.(log_safe(X))
+    else
+        copyto!(Y, log_safe(X))
+    end
+    return Y
+end
+
 """
     mul!_safe(Y, A, B) -> Y