Start working on the matrix representation for SE(n).

ext/LieGroupsRecursiveArrayToolsExt.jl

@@ -2,10 +2,35 @@ module LieGroupsRecursiveArrayToolsExt
 
 using LieGroups
 using RecursiveArrayTools: ArrayPartition
-using StaticArrays
 using LinearAlgebra
+using ManifoldsBase
 # Implement SE(n) also on an Array Partition
 
+# disable affine check
+LieGroups._check_matrix_affine(::ArrayPartition, ::Int; v=1) = nothing
+
+function ManifoldsBase.submanifold_component(
+    G::LieGroups.LeftSpecialEuclideanGroup, g::ArrayPartition, ::Val{:Rotation}
+)
+    return ManifoldsBase.submanifold_component(G.manifold, g, 1)
+end
+function ManifoldsBase.submanifold_component(
+    G::LieGroups.LeftSpecialEuclideanGroup, g::ArrayPartition, ::Val{:Translation}
+)
+    return ManifoldsBase.submanifold_component(G.manifold, g, 2)
+end
+
+Base.@propagate_inbounds function ManifoldsBase.submanifold_component(
+    G::LieGroups.RightSpecialEuclideanGroup, g::ArrayPartition, ::Val{:Rotation}
+)
+    return ManifoldsBase.submanifold_component(G.manifold, g, 2)
+end
+Base.@propagate_inbounds function ManifoldsBase.submanifold_component(
+    G::LieGroups.RightSpecialEuclideanGroup, g::ArrayPartition, ::Val{:Translation}
+)
+    return ManifoldsBase.submanifold_component(G.manifold, g, 1)
+end
+
 # TODO: Implement?
 # The following three should also work due to the
 # AbstractProductGroup s implementations

src/LieGroups.jl

@@ -1,9 +1,9 @@
 @doc raw"""
 LieGroups.jl: Lie groups and Lie algebras in Julia.
 
-The package is named after the norwegian mathematician [Sophus Lie](https://en.wikipedia.org/wiki/Sophus_Lie).
+The package is named after the norwegian mathematician [Marius Sophus Lie](https://en.wikipedia.org/wiki/Sophus_Lie) (1842–1899).
 
-* 📚 Documentation: [manoptjl.org](https://juliamanifolds.github.io/LieGroups.jl/dev/)
+* 📚 Documentation: [juliamanifolds.github.io/LieGroups.jl/](https://juliamanifolds.github.io/LieGroups.jl/)
 * 📦 Repository: [github.com/JuliaManifolds/LieGroups.jl](https://github.com/JuliaManifolds/LieGroups.jl)
 * 💬 Discussions: [github.com/JuliaManifolds/LieGroups.jl/discussions](https://github.com/JuliaManifolds/LieGroups.jl/discussions)
 * 🎯 Issues: [github.com/JuliaManifolds/LieGroups.jl/issues](https://github.com/JuliaManifolds/LieGroups.jl/issues)