Coordinate Charts on Differentiable Manifolds¶
The class DiffChart
implements coordinate charts on a differentiable
manifold over a topological field (in most applications,
or
).
The subclass RealDiffChart
is devoted
to the case , for which the concept of coordinate range is meaningful.
Moreover,
RealDiffChart
is endowed with some plotting
capabilities (cf. method plot()
).
Transition maps between charts are implemented via the class
DiffCoordChange
.
AUTHORS:
- Eric Gourgoulhon, Michal Bejger (2013-2015) : initial version
REFERENCES:
- Chap. 1 of [Lee2013]
-
class
sage.manifolds.differentiable.chart.
DiffChart
(domain, coordinates='', names=None)¶ Bases:
sage.manifolds.chart.Chart
Chart on a differentiable manifold.
Given a differentiable manifold
of dimension
over a topological field
, a chart is a member
of the manifold’s differentiable atlas;
is then an open subset of
and
is a homeomorphism from
to an open subset
of
.
The components
of
, defined by
for any point
, are called the coordinates of the chart
.
INPUT:
domain
– open subseton which the chart is defined
coordinates
– (default: ‘’ (empty string)) single string defining the coordinate symbols, with ‘ ‘ (whitespace) as a separator; each item has at most two fields, separated by ‘:’:- The coordinate symbol (a letter or a few letters)
- (optional) The LaTeX spelling of the coordinate; if not provided the coordinate symbol given in the first field will be used.
If it contains any LaTeX expression, the string
coordinates
must be declared with the prefix ‘r’ (for “raw”) to allow for a proper treatment of LaTeX’s backslash character (see examples below). If no LaTeX spelling is to be set for any coordinate, the argumentcoordinates
can be omitted when the shortcut operator<,>
is used via Sage preparser (see examples below)names
– (default:None
) unused argument, except ifcoordinates
is not provided; it must then be a tuple containing the coordinate symbols (this is guaranteed if the shortcut operator<,>
is used).
EXAMPLES:
A chart on a complex 2-dimensional differentiable manifold:
sage: M = Manifold(2, 'M', field='complex') sage: X = M.chart('x y'); X Chart (M, (x, y)) sage: latex(X) \left(M,(x, y)\right) sage: type(X) <class 'sage.manifolds.differentiable.chart.DiffChart'>
To manipulate the coordinates
as global variables, one has to set:
sage: x,y = X[:]
However, a shortcut is to use the declarator
<x,y>
in the left-hand side of the chart declaration (there is then no need to pass the string'x y'
tochart()
):sage: M = Manifold(2, 'M', field='complex') sage: X.<x,y> = M.chart(); X Chart (M, (x, y))
The coordinates are then immediately accessible:
sage: y y sage: x is X[0] and y is X[1] True
The trick is performed by Sage preparser:
sage: preparse("X.<x,y> = M.chart()") "X = M.chart(names=('x', 'y',)); (x, y,) = X._first_ngens(2)"
Note that
x
andy
declared in<x,y>
are mere Python variable names and do not have to coincide with the coordinate symbols; for instance, one may write:sage: M = Manifold(2, 'M', field='complex') sage: X.<x1,y1> = M.chart('x y'); X Chart (M, (x, y))
Then
y
is not known as a global Python variable and the coordinateis accessible only through the global variable
y1
:sage: y1 y sage: latex(y1) y sage: y1 is X[1] True
However, having the name of the Python variable coincide with the coordinate symbol is quite convenient; so it is recommended to declare:
sage: M = Manifold(2, 'M', field='complex') sage: X.<x,y> = M.chart()
In the above example, the chart X covers entirely the manifold M:
sage: X.domain() 2-dimensional complex manifold M
Of course, one may declare a chart only on an open subset of M:
sage: U = M.open_subset('U') sage: Y.<z1, z2> = U.chart(r'z1:\zeta_1 z2:\zeta_2'); Y Chart (U, (z1, z2)) sage: Y.domain() Open subset U of the 2-dimensional complex manifold M
In the above declaration, we have also specified some LaTeX writing of the coordinates different from the text one:
sage: latex(z1) {\zeta_1}
Note the prefix
r
in front of the stringr'z1:\zeta_1 z2:\zeta_2'
; it makes sure that the backslash character is treated as an ordinary character, to be passed to the LaTeX interpreter.Coordinates are Sage symbolic variables (see
sage.symbolic.expression
):sage: type(z1) <type 'sage.symbolic.expression.Expression'>
In addition to the Python variable name provided in the operator
<.,.>
, the coordinates are accessible by their indices:sage: Y[0], Y[1] (z1, z2)
The index range is that declared during the creation of the manifold. By default, it starts at 0, but this can be changed via the parameter
start_index
:sage: M1 = Manifold(2, 'M_1', field='complex', start_index=1) sage: Z.<u,v> = M1.chart() sage: Z[1], Z[2] (u, v)
The full set of coordinates is obtained by means of the operator
[:]
:sage: Y[:] (z1, z2)
Each constructed chart is automatically added to the manifold’s user atlas:
sage: M.atlas() [Chart (M, (x, y)), Chart (U, (z1, z2))]
and to the atlas of the chart’s domain:
sage: U.atlas() [Chart (U, (z1, z2))]
Manifold subsets have a default chart, which, unless changed via the method
set_default_chart()
, is the first defined chart on the subset (or on a open subset of it):sage: M.default_chart() Chart (M, (x, y)) sage: U.default_chart() Chart (U, (z1, z2))
The default charts are not privileged charts on the manifold, but rather charts whose name can be skipped in the argument list of functions having an optional
chart=
argument.The action of the chart map
on a point is obtained by means of the call operator, i.e. the operator
()
:sage: p = M.point((1+i, 2), chart=X); p Point on the 2-dimensional complex manifold M sage: X(p) (I + 1, 2) sage: X(p) == p.coord(X) True
A vector frame is naturally associated to each chart:
sage: X.frame() Coordinate frame (M, (d/dx,d/dy)) sage: Y.frame() Coordinate frame (U, (d/dz1,d/dz2))
as well as a dual frame (basis of 1-forms):
sage: X.coframe() Coordinate coframe (M, (dx,dy)) sage: Y.coframe() Coordinate coframe (U, (dz1,dz2))
See also
RealDiffChart
for charts on differentiable manifolds over.
-
coframe
()¶ Return the coframe (basis of coordinate differentials) associated with
self
.OUTPUT:
- a
CoordCoFrame
representing the coframe
EXAMPLES:
Coordinate coframe associated with some chart on a 2-dimensional manifold:
sage: M = Manifold(2, 'M') sage: c_xy.<x,y> = M.chart() sage: c_xy.coframe() Coordinate coframe (M, (dx,dy)) sage: type(c_xy.coframe()) <class 'sage.manifolds.differentiable.vectorframe.CoordCoFrame'>
Check that
c_xy.coframe()
is indeed the coordinate coframe associated with the coordinates:
sage: dx = c_xy.coframe()[0] ; dx 1-form dx on the 2-dimensional differentiable manifold M sage: dy = c_xy.coframe()[1] ; dy 1-form dy on the 2-dimensional differentiable manifold M sage: ex = c_xy.frame()[0] ; ex Vector field d/dx on the 2-dimensional differentiable manifold M sage: ey = c_xy.frame()[1] ; ey Vector field d/dy on the 2-dimensional differentiable manifold M sage: dx(ex).display() dx(d/dx): M --> R (x, y) |--> 1 sage: dx(ey).display() dx(d/dy): M --> R (x, y) |--> 0 sage: dy(ex).display() dy(d/dx): M --> R (x, y) |--> 0 sage: dy(ey).display() dy(d/dy): M --> R (x, y) |--> 1
- a
-
frame
()¶ Return the vector frame (coordinate frame) associated with
self
.OUTPUT:
- a
CoordFrame
representing the coordinate frame
EXAMPLES:
Coordinate frame associated with some chart on a 2-dimensional manifold:
sage: M = Manifold(2, 'M') sage: c_xy.<x,y> = M.chart() sage: c_xy.frame() Coordinate frame (M, (d/dx,d/dy)) sage: type(c_xy.frame()) <class 'sage.manifolds.differentiable.vectorframe.CoordFrame'>
Check that
c_xy.frame()
is indeed the coordinate frame associated with the coordinates:
sage: ex = c_xy.frame()[0] ; ex Vector field d/dx on the 2-dimensional differentiable manifold M sage: ey = c_xy.frame()[1] ; ey Vector field d/dy on the 2-dimensional differentiable manifold M sage: ex(M.scalar_field(x)).display() M --> R (x, y) |--> 1 sage: ex(M.scalar_field(y)).display() M --> R (x, y) |--> 0 sage: ey(M.scalar_field(x)).display() M --> R (x, y) |--> 0 sage: ey(M.scalar_field(y)).display() M --> R (x, y) |--> 1
- a
-
restrict
(subset, restrictions=None)¶ Return the restriction of
self
to some subset.If the current chart is
, a restriction (or subchart) is a chart
such that
and
.
If such subchart has not been defined yet, it is constructed here.
The coordinates of the subchart bare the same names as the coordinates of the original chart.
INPUT:
subset
– open subsetof the chart domain
restrictions
– (default:None
) list of coordinate restrictions defining the subset
A restriction can be any symbolic equality or inequality involving the coordinates, such as
x > y
orx^2 + y^2 != 0
. The items of the listrestrictions
are combined with theand
operator; if some restrictions are to be combined with theor
operator instead, they have to be passed as a tuple in some single item of the listrestrictions
. For example:restrictions = [x > y, (x != 0, y != 0), z^2 < x]
means
(x > y) and ((x != 0) or (y != 0)) and (z^2 < x)
. If the listrestrictions
contains only one item, this item can be passed as such, i.e. writingx > y
instead of the single element list[x > y]
.OUTPUT:
EXAMPLES:
Coordinates on the unit open ball of
as a subchart of the global coordinates of
:
sage: M = Manifold(2, 'C^2', field='complex') sage: X.<z1, z2> = M.chart() sage: B = M.open_subset('B') sage: X_B = X.restrict(B, abs(z1)^2 + abs(z2)^2 < 1); X_B Chart (B, (z1, z2))
-
transition_map
(other, transformations, intersection_name=None, restrictions1=None, restrictions2=None)¶ Construct the transition map between the current chart,
say, and another one,
say.
If
is the manifold’s dimension, the transition map is the map
where
is the manifold’s base field. In other words, the transition map expresses the coordinates
of
in terms of the coordinates
of
on the open subset where the two charts intersect, i.e. on
.
By definition, the transition map
must be of classe
, where
is the degree of differentiability of the manifold (cf.
diff_degree()
).INPUT:
other
– the charttransformations
– tuple (or list), where
is the symbolic expression of the coordinate
in terms of the coordinates
intersection_name
– (default:None
) name to be given to the subsetif the latter differs from
or
restrictions1
– (default:None
) list of conditions on the coordinates of the current chart that defineif the latter differs from
.
restrictions1
must be a list of of symbolic equalities or inequalities involving the coordinates, such as x>y or x^2+y^2 != 0. The items of the listrestrictions1
are combined with theand
operator; if some restrictions are to be combined with theor
operator instead, they have to be passed as a tuple in some single item of the listrestrictions1
. For example,restrictions1
= [x>y, (x!=0, y!=0), z^2<x] means (x>y) and ((x!=0) or (y!=0)) and (z^2<x). If the listrestrictions1
contains only one item, this item can be passed as such, i.e. writing x>y instead of the single-element list [x>y].restrictions2
– (default:None
) list of conditions on the coordinates of the chartthat define
if the latter differs from
(see
restrictions1
for the syntax)
OUTPUT:
- The transition map
defined on
, as an instance of
DiffCoordChange
.
EXAMPLES:
Transition map between two stereographic charts on the circle
:
sage: M = Manifold(1, 'S^1') sage: U = M.open_subset('U') # Complement of the North pole sage: cU.<x> = U.chart() # Stereographic chart from the North pole sage: V = M.open_subset('V') # Complement of the South pole sage: cV.<y> = V.chart() # Stereographic chart from the South pole sage: M.declare_union(U,V) # S^1 is the union of U and V sage: trans = cU.transition_map(cV, 1/x, intersection_name='W', ....: restrictions1= x!=0, restrictions2 = y!=0) sage: trans Change of coordinates from Chart (W, (x,)) to Chart (W, (y,)) sage: trans.display() y = 1/x
The subset
, intersection of
and
, has been created by
transition_map()
:sage: M.list_of_subsets() [1-dimensional differentiable manifold S^1, Open subset U of the 1-dimensional differentiable manifold S^1, Open subset V of the 1-dimensional differentiable manifold S^1, Open subset W of the 1-dimensional differentiable manifold S^1] sage: W = M.list_of_subsets()[3] sage: W is U.intersection(V) True sage: M.atlas() [Chart (U, (x,)), Chart (V, (y,)), Chart (W, (x,)), Chart (W, (y,))]
Transition map between the polar chart and the Cartesian one on
:
sage: M = Manifold(2, 'R^2') sage: c_cart.<x,y> = M.chart() sage: U = M.open_subset('U') # the complement of the half line {y=0, x >= 0} sage: c_spher.<r,phi> = U.chart(r'r:(0,+oo) phi:(0,2*pi):\phi') sage: trans = c_spher.transition_map(c_cart, (r*cos(phi), r*sin(phi)), ....: restrictions2=(y!=0, x<0)) sage: trans Change of coordinates from Chart (U, (r, phi)) to Chart (U, (x, y)) sage: trans.display() x = r*cos(phi) y = r*sin(phi)
In this case, no new subset has been created since
:
sage: M.list_of_subsets() [2-dimensional differentiable manifold R^2, Open subset U of the 2-dimensional differentiable manifold R^2]
but a new chart has been created:
:
sage: M.atlas() [Chart (R^2, (x, y)), Chart (U, (r, phi)), Chart (U, (x, y))]
-
class
sage.manifolds.differentiable.chart.
DiffCoordChange
(chart1, chart2, *transformations)¶ Bases:
sage.manifolds.chart.CoordChange
Transition map between two charts of a differentiable manifold.
Giving two coordinate charts
and
on a differentiable manifold
of dimension
over a topological field
, the transition map from
to
is the map
In other words, the transition map
expresses the coordinates
of
in terms of the coordinates
of
on the open subset where the two charts intersect, i.e. on
.
By definition, the transition map
must be of classe
, where
is the degree of differentiability of the manifold (cf.
diff_degree()
).INPUT:
chart1
– chartchart2
– charttransformations
– tuple (or list), where
is the symbolic expression of the coordinate
in terms of the coordinates
EXAMPLES:
Transition map on a 2-dimensional differentiable manifold:
sage: M = Manifold(2, 'M') sage: X.<x,y> = M.chart() sage: Y.<u,v> = M.chart() sage: X_to_Y = X.transition_map(Y, [x+y, x-y]) sage: X_to_Y Change of coordinates from Chart (M, (x, y)) to Chart (M, (u, v)) sage: type(X_to_Y) <class 'sage.manifolds.differentiable.chart.DiffCoordChange'> sage: X_to_Y.display() u = x + y v = x - y
-
class
sage.manifolds.differentiable.chart.
RealDiffChart
(domain, coordinates='', names=None)¶ Bases:
sage.manifolds.differentiable.chart.DiffChart
,sage.manifolds.chart.RealChart
Chart on a differentiable manifold over
.
Given a differentiable manifold
of dimension
over
, a chart is a member
of the manifold’s differentiable atlas;
is then an open subset of
and
is a homeomorphism from
to an open subset
of
.
The components
of
, defined by
for any point
, are called the coordinates of the chart
.
INPUT:
domain
– open subseton which the chart is defined
coordinates
– (default: ‘’ (empty string)) single string defining the coordinate symbols and ranges, with ‘ ‘ (whitespace) as a separator; each item has at most three fields, separated by ‘:’:- The coordinate symbol (a letter or a few letters)
- (optional) The interval
defining the coordinate range: if not provided, the coordinate is assumed to span all
; otherwise
must be provided in the form
(a,b)
(or equivalently]a,b[
). The boundsa
andb
can be+/-Infinity
,Inf
,infinity
,inf
oroo
. For singular coordinates, non-open intervals such as[a,b]
and(a,b]
(or equivalently]a,b]
) are allowed. Note that the interval declaration must not contain any whitespace. - (optional) The LaTeX spelling of the coordinate; if not provided the coordinate symbol given in the first field will be used.
The order of the fields 2 and 3 does not matter and each of them can be omitted. If it contains any LaTeX expression, the string
coordinates
must be declared with the prefix ‘r’ (for “raw”) to allow for a proper treatment of LaTeX backslash characters (see examples below). If no interval range and no LaTeX spelling is to be set for any coordinate, the argumentcoordinates
can be omitted when the shortcut operator<,>
is used via Sage preparser (see examples below)names
– (default:None
) unused argument, except ifcoordinates
is not provided; it must then be a tuple containing the coordinate symbols (this is guaranteed if the shortcut operator<,>
is used).
EXAMPLES:
Cartesian coordinates on
:
sage: M = Manifold(3, 'R^3', r'\RR^3', start_index=1) sage: c_cart = M.chart('x y z'); c_cart Chart (R^3, (x, y, z)) sage: type(c_cart) <class 'sage.manifolds.differentiable.chart.RealDiffChart'>
To have the coordinates accessible as global variables, one has to set:
sage: (x,y,z) = c_cart[:]
However, a shortcut is to use the declarator
<x,y,z>
in the left-hand side of the chart declaration (there is then no need to pass the string'x y z'
tochart()
):sage: M = Manifold(3, 'R^3', r'\RR^3', start_index=1) sage: c_cart.<x,y,z> = M.chart(); c_cart Chart (R^3, (x, y, z))
The coordinates are then immediately accessible:
sage: y y sage: y is c_cart[2] True
The trick is performed by Sage preparser:
sage: preparse("c_cart.<x,y,z> = M.chart()") "c_cart = M.chart(names=('x', 'y', 'z',)); (x, y, z,) = c_cart._first_ngens(3)"
Note that
x, y, z
declared in<x,y,z>
are mere Python variable names and do not have to coincide with the coordinate symbols; for instance, one may write:sage: M = Manifold(3, 'R^3', r'\RR^3', start_index=1) sage: c_cart.<x1,y1,z1> = M.chart('x y z'); c_cart Chart (R^3, (x, y, z))
Then
y
is not known as a global variable and the coordinateis accessible only through the global variable
y1
:sage: y1 y sage: y1 is c_cart[2] True
However, having the name of the Python variable coincide with the coordinate symbol is quite convenient; so it is recommended to declare:
sage: forget() # for doctests only sage: M = Manifold(3, 'R^3', r'\RR^3', start_index=1) sage: c_cart.<x,y,z> = M.chart()
Spherical coordinates on the subset
of
that is the complement of the half-plane
:
sage: U = M.open_subset('U') sage: c_spher.<r,th,ph> = U.chart(r'r:(0,+oo) th:(0,pi):\theta ph:(0,2*pi):\phi') sage: c_spher Chart (U, (r, th, ph))
Note the prefix ‘r’ for the string defining the coordinates in the arguments of
chart
.Coordinates are Sage symbolic variables (see
sage.symbolic.expression
):sage: type(th) <type 'sage.symbolic.expression.Expression'> sage: latex(th) {\theta} sage: assumptions(th) [th is real, th > 0, th < pi]
Coordinate are also accessible by their indices:
sage: x1 = c_spher[1]; x2 = c_spher[2]; x3 = c_spher[3] sage: [x1, x2, x3] [r, th, ph] sage: (x1, x2, x3) == (r, th, ph) True
The full set of coordinates is obtained by means of the operator [:]:
sage: c_cart[:] (x, y, z) sage: c_spher[:] (r, th, ph)
Let us check that the declared coordinate ranges have been taken into account:
sage: c_cart.coord_range() x: (-oo, +oo); y: (-oo, +oo); z: (-oo, +oo) sage: c_spher.coord_range() r: (0, +oo); th: (0, pi); ph: (0, 2*pi) sage: bool(th>0 and th<pi) True sage: assumptions() # list all current symbolic assumptions [x is real, y is real, z is real, r is real, r > 0, th is real, th > 0, th < pi, ph is real, ph > 0, ph < 2*pi]
The coordinate ranges are used for simplifications:
sage: simplify(abs(r)) # r has been declared to lie in the interval (0,+oo) r sage: simplify(abs(x)) # no positive range has been declared for x abs(x)
Each constructed chart is automatically added to the manifold’s user atlas:
sage: M.atlas() [Chart (R^3, (x, y, z)), Chart (U, (r, th, ph))]
and to the atlas of its domain:
sage: U.atlas() [Chart (U, (r, th, ph))]
Manifold subsets have a default chart, which, unless changed via the method
set_default_chart()
, is the first defined chart on the subset (or on a open subset of it):sage: M.default_chart() Chart (R^3, (x, y, z)) sage: U.default_chart() Chart (U, (r, th, ph))
The default charts are not privileged charts on the manifold, but rather charts whose name can be skipped in the argument list of functions having an optional
chart=
argument.The action of the chart map
on a point is obtained by means of the call operator, i.e. the operator
()
:sage: p = M.point((1,0,-2)); p Point on the 3-dimensional differentiable manifold R^3 sage: c_cart(p) (1, 0, -2) sage: c_cart(p) == p.coord(c_cart) True sage: q = M.point((2,pi/2,pi/3), chart=c_spher) # point defined by its spherical coordinates sage: c_spher(q) (2, 1/2*pi, 1/3*pi) sage: c_spher(q) == q.coord(c_spher) True sage: a = U.point((1,pi/2,pi)) # the default coordinates on U are the spherical ones sage: c_spher(a) (1, 1/2*pi, pi) sage: c_spher(a) == a.coord(c_spher) True
Cartesian coordinates on
as an example of chart construction with coordinate restrictions: since
is the complement of the half-plane
, we must have
or
on U. Accordingly, we set:
sage: c_cartU.<x,y,z> = U.chart() sage: c_cartU.add_restrictions((y!=0, x<0)) # the tuple (y!=0, x<0) means y!=0 or x<0 sage: # c_cartU.add_restrictions([y!=0, x<0]) would have meant y!=0 AND x<0 sage: U.atlas() [Chart (U, (r, th, ph)), Chart (U, (x, y, z))] sage: M.atlas() [Chart (R^3, (x, y, z)), Chart (U, (r, th, ph)), Chart (U, (x, y, z))] sage: c_cartU.valid_coordinates(-1,0,2) True sage: c_cartU.valid_coordinates(1,0,2) False sage: c_cart.valid_coordinates(1,0,2) True
A vector frame is naturally associated to each chart:
sage: c_cart.frame() Coordinate frame (R^3, (d/dx,d/dy,d/dz)) sage: c_spher.frame() Coordinate frame (U, (d/dr,d/dth,d/dph))
as well as a dual frame (basis of 1-forms):
sage: c_cart.coframe() Coordinate coframe (R^3, (dx,dy,dz)) sage: c_spher.coframe() Coordinate coframe (U, (dr,dth,dph))
Chart grids can be drawn in 2D or 3D graphics thanks to the method
plot()
.-
restrict
(subset, restrictions=None)¶ Return the restriction of the chart to some subset.
If the current chart is
, a restriction (or subchart) is a chart
such that
and
.
If such subchart has not been defined yet, it is constructed here.
The coordinates of the subchart bare the same names as the coordinates of the original chart.
INPUT:
subset
– open subsetof the chart domain
restrictions
– (default:None
) list of coordinate restrictions defining the subset
A restriction can be any symbolic equality or inequality involving the coordinates, such as
x > y
orx^2 + y^2 != 0
. The items of the listrestrictions
are combined with theand
operator; if some restrictions are to be combined with theor
operator instead, they have to be passed as a tuple in some single item of the listrestrictions
. For example:restrictions = [x > y, (x != 0, y != 0), z^2 < x]
means
(x > y) and ((x != 0) or (y != 0)) and (z^2 < x)
. If the listrestrictions
contains only one item, this item can be passed as such, i.e. writingx > y
instead of the single element list[x > y]
.OUTPUT:
EXAMPLES:
Cartesian coordinates on the unit open disc in
as a subchart of the global Cartesian coordinates:
sage: M = Manifold(2, 'R^2') sage: c_cart.<x,y> = M.chart() # Cartesian coordinates on R^2 sage: D = M.open_subset('D') # the unit open disc sage: c_cart_D = c_cart.restrict(D, x^2+y^2<1) sage: p = M.point((1/2, 0)) sage: p in D True sage: q = M.point((1, 2)) sage: q in D False
Cartesian coordinates on the annulus
:
sage: A = M.open_subset('A') sage: c_cart_A = c_cart.restrict(A, [x^2+y^2>1, x^2+y^2<4]) sage: p in A, q in A (False, False) sage: a = M.point((3/2,0)) sage: a in A True