"""Euclidean space."""
import math
import geomstats.backend as gs
from geomstats.geometry.base import VectorSpace
from geomstats.geometry.riemannian_metric import RiemannianMetric
from geomstats.vectorization import check_is_batch, repeat_out
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class Euclidean(VectorSpace):
"""Class for Euclidean spaces.
By definition, a Euclidean space is a vector space of a given
dimension, equipped with a Euclidean metric.
Parameters
----------
dim : int
Dimension of the Euclidean space.
"""
def __init__(self, dim, equip=True):
super().__init__(
dim=dim,
shape=(dim,),
equip=equip,
)
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@staticmethod
def default_metric():
"""Metric to equip the space with if equip is True."""
return CanonicalEuclideanMetric
@property
def identity(self):
"""Identity of the group.
Returns
-------
identity : array-like, shape=[n]
"""
return gs.zeros(self.dim)
def _create_basis(self):
"""Create the canonical basis."""
return gs.eye(self.dim)
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def exp(self, tangent_vec, base_point):
"""Compute the group exponential, which is simply the addition.
Parameters
----------
tangent_vec : array-like, shape=[..., n]
Tangent vector at base point.
base_point : array-like, shape=[..., n]
Point from which the exponential is computed.
Returns
-------
point : array-like, shape=[..., n]
Group exponential.
"""
return tangent_vec + base_point
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class EuclideanMetric(RiemannianMetric):
"""Class for a Euclidean metric.
This metric is:
- flat: the inner-product is independent of the base point;
- positive definite
"""
def __init__(self, space, metric_matrix=None, signature=None):
super().__init__(space, signature=signature)
self._check_metric_matrix_dim(space, metric_matrix)
if metric_matrix is None and space.point_ndim == 1:
metric_matrix = gs.eye(space.dim)
self.metric_matrix_ = metric_matrix
@staticmethod
def _check_metric_matrix_dim(space, metric_matrix):
"""Check metric matrix dimension."""
if metric_matrix is None:
return
expected_shape = (space.dim, space.dim)
if metric_matrix.shape != expected_shape:
raise ValueError(
f"metric_matrix shape is {metric_matrix.shape};"
f"expected: {expected_shape}"
)
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def metric_matrix(self, base_point=None):
"""Compute the inner-product matrix, independent of the base point.
Parameters
----------
base_point : array-like, shape=[..., dim]
Base point.
Optional, default: None.
Returns
-------
inner_prod_mat : array-like, shape=[..., dim, dim]
Inner-product matrix.
"""
if self._space.point_ndim > 1:
raise NotImplementedError("`metric_matrix` is not implemented.")
dim = self._space.dim
return repeat_out(
self._space.point_ndim,
gs.copy(self.metric_matrix_),
base_point,
out_shape=(dim, dim),
)
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def inner_product_derivative_matrix(self, base_point=None):
r"""Compute derivative of the inner prod matrix at base point.
Writing :math:`g_{ij}` the inner-product matrix at base point,
this computes :math:`mat_{ijk} = \partial_k g_{ij}`, where the
index k of the derivation is put last.
Parameters
----------
base_point : array-like, shape=[..., dim]
Base point.
Returns
-------
metric_derivative : array-like, shape=[..., dim, dim, dim]
Derivative of the inner-product matrix, where the index
k of the derivation is last: :math:`mat_{ijk} = \partial_k g_{ij}`.
"""
if self._space.point_ndim > 1:
raise NotImplementedError(
"`inner_product_derivative_matrix` is not implemented."
)
dim = self._space.dim
shape = (dim, dim, dim)
return repeat_out(
self._space.point_ndim, gs.zeros(shape), base_point, out_shape=shape
)
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def christoffels(self, base_point=None):
"""Christoffel symbols associated with the connection.
The contravariant index is on the first dimension.
Parameters
----------
base_point : array-like, shape=[..., dim]
Point on the manifold.
Returns
-------
gamma : array-like, shape=[..., dim, dim, dim]
Christoffel symbols, with the contravariant index on
the first dimension.
"""
if self._space.point_ndim > 1:
raise NotImplementedError("The Christoffel symbols are not implemented.")
dim = self._space.dim
shape = (dim, dim, dim)
gamma = gs.zeros(shape)
return repeat_out(self._space.point_ndim, gamma, base_point, out_shape=shape)
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def exp(self, tangent_vec, base_point):
"""Compute exp map of a base point in tangent vector direction.
The Riemannian exponential is vector addition in the Euclidean space.
Parameters
----------
tangent_vec : array-like, shape=[..., dim]
Tangent vector at base point.
base_point : array-like, shape=[..., dim]
Base point.
Returns
-------
exp : array-like, shape=[..., dim]
Riemannian exponential.
"""
return base_point + tangent_vec
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def log(self, point, base_point):
"""Compute log map using a base point and other point.
The Riemannian logarithm is the subtraction in the Euclidean space.
Parameters
----------
point: array-like, shape=[..., dim]
Point.
base_point: array-like, shape=[..., dim]
Base point.
Returns
-------
log: array-like, shape=[..., dim]
Riemannian logarithm.
"""
return point - base_point
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def parallel_transport(
self, tangent_vec, base_point=None, direction=None, end_point=None
):
r"""Compute the parallel transport of a tangent vector.
On a Euclidean space, the parallel transport of a (tangent) vector
returns the vector itself.
Parameters
----------
tangent_vec : array-like, shape=[..., dim]
Tangent vector at base point to be transported.
base_point : array-like, shape=[..., dim]
Point on the manifold. Point to transport from.
Optional, default: None
direction : array-like, shape=[..., dim]
Tangent vector at base point, along which the parallel transport
is computed.
Optional, default: None.
end_point : array-like, shape=[..., dim]
Point on the manifold. Point to transport to.
Optional, default: None.
Returns
-------
transported_tangent_vec: array-like, shape=[..., dim]
Transported tangent vector at `exp_(base_point)(tangent_vec_b)`.
"""
transported_tangent_vec = gs.copy(tangent_vec)
return repeat_out(
self._space.point_ndim,
transported_tangent_vec,
tangent_vec,
base_point,
direction,
end_point,
out_shape=self._space.shape,
)
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def geodesic(self, initial_point, end_point=None, initial_tangent_vec=None):
"""Generate parameterized function for the geodesic curve.
Geodesic curve defined by either:
- an initial point and an initial tangent vector,
- an initial point and an end point.
Parameters
----------
initial_point : array-like, shape=[..., dim]
Point on the manifold, initial point of the geodesic.
end_point : array-like, shape=[..., dim], optional
Point on the manifold, end point of the geodesic. If None,
an initial tangent vector must be given.
initial_tangent_vec : array-like, shape=[..., dim],
Tangent vector at base point, the initial speed of the geodesics.
Optional, default: None.
If None, an end point must be given and a logarithm is computed.
Returns
-------
path : callable
Time parameterized geodesic curve. If a batch of initial
conditions is passed, the output array's first dimension
represents the different initial conditions, and the second
corresponds to time.
"""
if end_point is None and initial_tangent_vec is None:
raise ValueError(
"Specify an end point or an initial tangent "
"vector to define the geodesic."
)
if end_point is not None:
if initial_tangent_vec is not None:
raise ValueError(
"Cannot specify both an end point and an initial tangent vector."
)
initial_tangent_vec = self.log(end_point, initial_point)
is_batch = check_is_batch(
self._space.point_ndim, initial_point, initial_tangent_vec
)
if is_batch:
initial_point = gs.expand_dims(
initial_point, axis=-(self._space.point_ndim + 1)
)
ijk = "ijk"[: self._space.point_ndim]
def path(t):
"""Generate parameterized function for geodesic curve.
Parameters
----------
t : array-like, shape=[n_points,]
Times at which to compute points of the geodesics.
"""
t = gs.array(t)
t = gs.cast(t, initial_tangent_vec.dtype)
t = gs.to_ndarray(t, to_ndim=1)
tangent_vecs = gs.einsum(f"n,...{ijk}->...n{ijk}", t, initial_tangent_vec)
return initial_point + tangent_vecs
return path
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def injectivity_radius(self, base_point=None):
"""Compute the radius of the injectivity domain.
This is is the supremum of radii r for which the exponential map is a
diffeomorphism from the open ball of radius r centered at the base
point onto its image.
Parameters
----------
base_point : array-like, shape=[..., {dim, [n, m]}]
Point on the manifold.
Returns
-------
radius : array-like, shape=[...,]
Injectivity radius.
"""
radius = gs.array(math.inf)
return repeat_out(self._space.point_ndim, radius, base_point)
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class CanonicalEuclideanMetric(EuclideanMetric):
"""Class for the canonical Euclidean metric.
Notes
-----
Metric matrix is identity (NB: `EuclideanMetric` allows
to use a different metric matrix).
"""
def __init__(self, space):
super().__init__(space)
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def inner_product(self, tangent_vec_a, tangent_vec_b, base_point=None):
"""Inner product between two tangent vectors at a base point.
Parameters
----------
tangent_vec_a: array-like, shape=[..., dim]
Tangent vector at base point.
tangent_vec_b: array-like, shape=[..., dim]
Tangent vector at base point.
base_point: array-like, shape=[..., dim]
Base point.
Optional, default: None.
Returns
-------
inner_product : array-like, shape=[...,]
Inner-product.
"""
inner_product = gs.dot(tangent_vec_a, tangent_vec_b)
return repeat_out(
self._space.point_ndim,
inner_product,
tangent_vec_a,
tangent_vec_b,
base_point,
)
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def squared_norm(self, vector, base_point=None):
"""Compute the square of the norm of a vector.
Squared norm of a vector associated to the inner product
at the tangent space at a base point.
Parameters
----------
vector : array-like, shape=[..., dim]
Vector.
base_point : array-like, shape=[..., dim]
Base point.
Optional, default: None.
Returns
-------
sq_norm : array-like, shape=[...,]
Squared norm.
"""
sq_norm = gs.linalg.norm(vector, axis=-1) ** 2
return repeat_out(self._space.point_ndim, sq_norm, vector, base_point)
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def norm(self, vector, base_point=None):
"""Compute norm of a vector.
Norm of a vector associated to the inner product
at the tangent space at a base point.
Note: This only works for positive-definite
Riemannian metrics and inner products.
Parameters
----------
vector : array-like, shape=[..., dim]
Vector.
base_point : array-like, shape=[..., dim]
Base point.
Optional, default: None.
Returns
-------
norm : array-like, shape=[...,]
Norm.
"""
norm = gs.linalg.norm(vector, axis=-1)
return repeat_out(self._space.point_ndim, norm, vector, base_point)