Introduce the manifold of symmetric positive definite matrices with two metrics

docs/make.jl

@@ -10,8 +10,10 @@ makedocs(
         "Manifolds" => [
             "Basic manifolds" => [
                 "Euclidean" => "manifolds/euclidean.md",
+                "Cholesky Space" => "manifolds/choleskyspace.md",
                 "Rotations" => "manifolds/rotations.md",
-                "Sphere" => "manifolds/sphere.md"
+                "Sphere" => "manifolds/sphere.md",
+                "Symmetric Positive Definite" => "manifolds/symmetricpositivedefinite.md"
             ],
             "Combined manifolds" => [
                 "Power manifold" => "manifolds/power.md",

docs/src/manifolds/choleskyspace.md

@@ -0,0 +1,15 @@
+# Cholesky Space
+
+The Cholesky Space is a Riemannian manifold on the lower triangular matrices.
+
+```@autodocs
+Modules = [Manifolds]
+Pages = ["CholeskySpace.jl"]
+Order = [:type]
+```
+
+```@autodocs
+Modules = [Manifolds]
+Pages = ["CholeskySpace.jl"]
+Order = [:function]
+```

docs/src/manifolds/euclidean.md

@@ -1,7 +1,16 @@
-# Sphere
+# Euclidean Space
+
+The Euclidean space $\mathbb R^n$ is a simple model space, since it has
+curvature constantly zero everywhere and hence nearly all operations simplify.
+
+```@autodocs
+Modules = [Manifolds]
+Pages = ["Euclidean.jl"]
+Order = [:type]
+```
 
 ```@autodocs
 Modules = [Manifolds]
 Pages = ["Euclidean.jl"]
-Order = [:type, :function]
+Order = [:function]
 ```

docs/src/manifolds/symmetricpositivedefinite.md

@@ -0,0 +1,81 @@
+# Symmetric Positive Definite Matrices
+
+The symmetric positive definite matrices
+
+```math
+\mathcal P(n) = \bigl\{ A \in \mathbb R^{n\times n}\ \big|\ 
+A = A^{\mathrm{T}} \text{ and }
+x^{\mathrm{T}}Ax > 0 \text{ for } 0\neq x \in\mathbb R^n \bigr\}
+```
+
+```@docs
+SymmetricPositiveDefinite
+```
+
+can -- for example -- be illustrated as ellipsoids:  since the eigen values are all positive
+they can be taken as lengths of the axes of an ellipsoids while the directions are given by
+the eigenvectors. 
+
+![An example set of data](../assets/images/SPDSignal.png)
+
+The manifold can be equipped with different metrics
+
+## Common and Metric Independent functions
+```@docs
+injectivity_radius(::SymmetricPositiveDefinite{N},a::Vararg{Any,N} where N) where N
+is_manifold_point(::SymmetricPositiveDefinite{N},x; kwargs...) where N
+is_tangent_vector(::SymmetricPositiveDefinite{N},x,v; kwargs...) where N
+manifold_dimension(::SymmetricPositiveDefinite{N}) where N 
+representation_size(::SymmetricPositiveDefinite) 
+zero_tangent_vector(::SymmetricPositiveDefinite{N},x) where N
+zero_tangent_vector!(::SymmetricPositiveDefinite{N}, v, x) where N
+```
+
+
+## Default Metric: Linear Affine Metric
+
+```@docs
+LinearAffineMetric
+```
+
+This metric is also the default metric, i.e.
+any call of the following functions with
+`P=SymmetricPositiveDefinite(3)` will result in
+`MetricManifold(P,LinearAffineMetric())`and hence yield the formulae described in this seciton.
+
+```@docs
+distance(P::SymmetricPositiveDefinite{N},x,y) where N
+exp!(P::SymmetricPositiveDefinite{N}, y, x, v) where N
+inner(P::SymmetricPositiveDefinite{N}, x, w, v) where N
+log!(P::SymmetricPositiveDefinite{N}, v, x, y) where N
+tangent_orthonormal_basis(P::SymmetricPositiveDefinite{N},x,v) where N
+vector_transport_to!(P::SymmetricPositiveDefinite{N},vto, x, v, y, m::ParallelTransport) where N
+```
+
+## Log Euclidean Metric
+
+```@docs
+LogEuclideanMetric
+```
+
+And we obtain the following functions
+
+```@docs
+distance(P::MetricManifold{SymmetricPositiveDefinite{N},LogEuclideanMetric},x,y) where N
+```
+
+## Log Cholesky Metric
+
+```@docs
+LogCholeskyMetric
+```
+
+```@docs
+distance(P::MetricManifold{SymmetricPositiveDefinite{N},LogCholeskyMetric},x,y) where N
+exp!(P::MetricManifold{SymmetricPositiveDefinite{N},LogCholeskyMetric}, y, x, v) where N
+inner(P::MetricManifold{SymmetricPositiveDefinite{N}, LogCholeskyMetric}, x, w, v) where N
+log!(P::MetricManifold{SymmetricPositiveDefinite{N}, LogCholeskyMetric}, v, x, y) where N
+vector_transport_to!(M::MetricManifold{SymmetricPositiveDefinite{N},LogCholeskyMetric}, vto, x, v, y, ::ParallelTransport) where N
+```
+
+### Literature

src/ArrayManifold.jl

@@ -130,19 +130,21 @@ function zero_tangent_vector(M::ArrayManifold, x; kwargs...)
     return w
 end
 
-function vector_transport_to(M::ArrayManifold, x, v, y)
+function vector_transport_to(M::ArrayManifold, x, v, y, m::AbstractVectorTransportMethod)
     return vector_transport_to(M.manifold,
                                array_value(x),
                                array_value(v),
-                               array_value(y))
+                               array_value(y),
+                               m)
 end
 
-function vector_transport_to!(M::ArrayManifold, vto, x, v, y)
+function vector_transport_to!(M::ArrayManifold, vto, x, v, y, m::AbstractVectorTransportMethod)
     return vector_transport_to!(M.manifold,
                                 array_value(vto),
                                 array_value(x),
                                 array_value(v),
-                                array_value(y))
+                                array_value(y),
+                                m)
 end
 
 function is_manifold_point(M::ArrayManifold, x::MPoint; kwargs...)

src/CholeskySpace.jl

@@ -0,0 +1,162 @@
+using LinearAlgebra: diagm, diag, eigen, eigvals, eigvecs, Symmetric, Diagonal, factorize, tr, norm, cholesky, LowerTriangular, UpperTriangular
+
+
+@doc doc"""
+    CholeskySpace{N} <: Manifold
+
+the manifold of lower triangular matrices with positive diagonal and
+a metric based on the cholesky decomposition. The formulae for this manifold
+are for example summarized in Table 1 of
+> Lin, Zenhua: "Riemannian Geometry of Symmetric Positive Definite Matrices via
+> Cholesky Decomposition", arXiv: [1908.09326](https://arxiv.org/abs/1908.09326).
+"""
+struct CholeskySpace{N} <: Manifold end
+CholeskySpace(n::Int) = CholeskySpace{n}()
+
+# two small helper for strictly lower and upper triangulars
+strictlyLowerTriangular(x) = LowerTriangular(x) - Diagonal(diag(x))
+strictlyUpperTriangular(x) = UpperTriangular(x) - Diagonal(diag(x))
+
+
+@generated representation_size(::CholeskySpace{N}) where N = (N,N)
+
+@generated manifold_dimension(::CholeskySpace{N}) where N = div(N*(N+1), 2)
+
+@doc doc"""
+    inner(M,x,v,w)
+
+computes the inner product on the [`CholeskySpace`](@ref) `M` at the
+lower triangular matric with positive diagonal `x` and the two tangent vectors
+`v`,`w`, i.e they are both lower triangular matrices with arbitrary diagonal.
+The formula reads
+
+````math
+    g_{x}(v,w) = \sum_{i>j} v_{ij}w_{ij} + \sum_{j=1}^m v_{ii}w_{ii}x_{ii}^{-2}
+````
+"""
+inner(::CholeskySpace{N},x,v,w) where N = sum(strictlyLowerTriangular(v).*strictlyLowerTriangular(w)) + sum(diag(v).*diag(w)./( diag(x).^2 ))
+
+@doc doc"""
+    distance(M,x,y)
+
+computes the Riemannian distance on the [`CholeskySpace`](@ref) `M` between two
+matrices `x`, `y` that are lower triangular with positive diagonal. The formula
+reads
+
+````math
+d_{\mathcal M}(x,y) = \sqrt{
+\sum_{i>j} (x_{ij}-y_{ij})^2 + 
+\sum_{j=1}^m (\log x_{jj} - \log y_jj)^2
+}
+````
+"""
+distance(::CholeskySpace{N},x,y) where N = sqrt(
+  sum( (strictlyLowerTriangular(x) - strictlyLowerTriangular(y)).^2 ) + sum( (log.(diag(x)) - log.(diag(y))).^2 )
+)
+
+@doc doc"""
+    exp!(M,y,x,v)
+
+compute the exponential map on the [`CholeskySpace`](@ref) `M` eminating from
+the lower triangular matrix with positive diagonal `x` towards the lower triangular
+matrix `v` and return the result in `y`. The formula reads
+
+````math
+\exp_x v = \lfloor x \rfloor + \lfloor v \rfloor
++\operatorname{diag}(x)\operatorname{diag}(x)\exp\bigl( \operatorname{diag}(v)\operatorname{diag}(x)^{-1}\bigr)
+````
+where $\lfloor x\rfloor$ denotes the strictly lower triangular matrix of $x$ and
+$\operatorname{diag}(x)$ the diagonal matrix of $x$
+"""
+function exp!(::CholeskySpace{N},y,x,v) where N
+    y .= strictlyLowerTriangular(x) + strictlyLowerTriangular(v) + Diagonal(x)*Diagonal(exp.(diag(v)./diag(x)))
+    return y
+end
+@doc doc"""
+    log!(M,v,x,y)
+
+compute the exponential map on the [`CholeskySpace`](@ref) `M` eminating from
+the lower triangular matrix with positive diagonal `x` towards the lower triangular
+matrx `v` and return the result in `y`. The formula reads
+
+````math
+\log_x v = \lfloor x \rfloor - \lfloor y \rfloor
++\operatorname{diag}(x)\log\bigl(\operatorname{diag}(y)\operatorname{diag}(x)^{-1}\bigr)
+````
+where $\lfloor x\rfloor$ denotes the strictly lower triangular matrix of $x$ and
+$\operatorname{diag}(x)$ the diagonal matrix of $x$
+"""
+function log!(::CholeskySpace{N},v,x,y) where N
+    v .= strictlyLowerTriangular(y) - strictlyLowerTriangular(x) + Diagonal(diag(x))*Diagonal(log.(diag(y)./diag(x)))
+    return v
+end
+
+@doc doc"""
+    zero_tangent_vector!(M,v,x)
+
+returns the zero tangent vector on the [`CholeskySpace`](@ref) `M` at `x` in
+the variable `v`.
+"""
+function zero_tangent_vector!(M::CholeskySpace{N},v,x) where N
+    fill!(v,0)
+    return v
+end
+
+@doc doc"""
+    vector_transport!(M,vto,x,v,y)
+
+parallely transport the tangent vector `v` at `x` along the geodesic to `y`
+on respect to the [`CholeskySpace`](@ref) manifold `M`. The formula reads
+
+````math
+    \mathcal P_{x\to y}(v) = \lfloor v \rfloor  + \operatorname{diag}(y)\operatorname{diag}(x)^{-1}\operatorname{diag}(v),
+````
+where $\lfloor\cdot\rfloor$ denotes the strictly lower triangular matrix,
+and $\operatorname{diag}$ extracts the diagonal matrix.
+"""
+function vector_transport_to!(::CholeskySpace{N}, vto, x, v, y, ::ParallelTransport) where N
+    vto .= strictlyLowerTriangular(x) + Diagonal(diag(y))*Diagonal(1 ./ diag(x))*Diagonal(v)
+    return vto
+end
+
+@doc doc"""
+    is_manifold_point(M,x;kwargs...)
+
+check whether the matrix `x` lies on the [`CholeskySpace`](@ref) `M`, i.e.
+it's size fits the manifold, it is a lower triangular matrix and has positive
+entries on the diagonal.
+The tolerance for the tests can be set using the `kwargs...`.
+"""
+
+function is_manifold_point(M::CholeskySpace{N}, x; kwargs...) where N
+    if size(x) != representation_size(M)
+        throw(DomainError(size(x),"The point $(x) does not lie on $(M), since its size is not $(representation_size(M))."))
+    end
+    if !isapprox( norm(strictlyUpperTriangular(x)), 0.; kwargs...)
+        throw(DomainError(norm(UpperTriangular(x) - Diagonal(x)), "The point $(x) does not lie on $(M), since it strictly upper triangular nonzero entries"))
+    end
+    if any( diag(x) .<= 0)
+        throw(DomainError(min(diag(x)...), "The point $(x) does not lie on $(M), since it hast nonpositive entries on the diagonal"))
+    end
+    return true
+end
+"""
+    is_tangent_vector(M,x,v; kwargs... )
+
+checks whether `v` is a tangent vector to `x` on the [`CholeskySpace`](@ref) `M`, i.e.
+atfer [`is_manifold_point`](@ref)`(M,x)`, `v` has to be of same dimension as `x`
+and a symmetric matrix.
+The tolerance for the tests can be set using the `kwargs...`.
+"""
+function is_tangent_vector(M::CholeskySpace{N}, x,v; kwargs...) where N
+    is_manifold_point(M,x)
+    if size(v) != representation_size(M)
+        throw(DomainError(size(v),
+            "The vector $(v) is not a tangent to a point on $(M) since its size does not match $(representation_size(M))."))
+    end
+    if !isapprox(norm(v-transpose(v)), 0.; kwargs...)
+        throw(DomainError(size(v),
+            "The vector $(v) is not a tangent to a point on $(M) (represented as an element of the Lie algebra) since its not symmetric."))
+    end
+    return true
+end