A symplectic integrator for riemannian manifolds
The configuration spaces of mechanical systems usually support Riemannian metrics which have explicitly solvable geodesic flows and parallel transport operators. While not of primary interest, such metrics can be used to generate integration algorithms by using the known parallel transport to evolve points in velocity phase space.
KeywordsRiemannian Manifold Symmetric Space Configuration Space Riemannian Geometry Exponential Mapping
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