fix translate_diff on general unitary

JuliaManifolds · Nov 3, 2023 · d6e3381 · d6e3381
1 parent cb05433
commit d6e3381
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Showing 3 changed files with 8 additions and 3 deletions.
diff --git a/src/groups/general_unitary_groups.jl b/src/groups/general_unitary_groups.jl
@@ -306,7 +306,9 @@ function translate_diff!(
     X,
     ::RightForwardAction,
 )
-    return copyto!(G, Y, X)
+    copyto!(G, Y, X)
+    Y .*= -1
+    return Y
 end
 function translate_diff!(
     G::GeneralUnitaryMultiplicationGroup,
@@ -316,7 +318,9 @@ function translate_diff!(
     X,
     ::LeftBackwardAction,
 )
-    return copyto!(G, Y, p * X * inv(G, p))
+    copyto!(G, Y, p * X * inv(G, p))
+    Y .*= -1
+    return Y
 end
 function translate_diff!(
     G::GeneralUnitaryMultiplicationGroup,

diff --git a/test/groups/general_unitary_groups.jl b/test/groups/general_unitary_groups.jl
@@ -19,7 +19,7 @@ include("group_utils.jl")
             X2 = log_lie(On, p)
             e = Identity(MultiplicationOperation())
             # They are not yet inverting, p2 is on the “other half”
-            # but taking the log again should also be X ahain
+            # but taking the log again should also be X again
             @test isapprox(On, e, X2, X)
             @test log_lie(On, e) == zeros(n, n)
         end

diff --git a/test/groups/group_operation_action.jl b/test/groups/group_operation_action.jl
@@ -136,5 +136,6 @@ using Manifolds:
 
         @test apply_diff_group(A_right_fwd, a_pts[1], X_pts[1], m_pts[1]) ≈
               -m_pts[1] \ X_pts[1] * m_pts[1]
+        @test apply_diff_group(A_left_back, a_pts[1], X_pts[1], m_pts[1]) ≈ -X_pts[1]
     end
 end