lie-groups

Concrete implementations of classical Lie groups and Lie algebras in Rust, with emphasis on mathematical correctness and numerical stability.

Why this crate?

Rust has good linear algebra libraries (nalgebra, ndarray) but no dedicated support for Lie-theoretic computation. If you work in robotics, physics simulation, geometric integration, or computational geometry, you need Lie groups — and you need them to be correct.

lie-groups provides:

The groups you actually use — U(1), SU(2), SO(3), SU(3), SU(N), R⁺ — with exponential maps, logarithms, and adjoints that satisfy the axioms
Operator overloading — g * h for group multiplication, x + y and 2.0 * x for algebra arithmetic — mathematical code reads like mathematics
Lie algebra operations — brackets, Baker-Campbell-Hausdorff formula (to 5th order), with verified bilinearity, antisymmetry, and Jacobi identity
Representation theory — irreducible representations, Casimir operators, characters, Clebsch-Gordan decomposition, root systems, weight lattices
Compile-time mathematical markers — sealed traits for Compact, Simple, SemiSimple, Abelian prevent incorrect type-level claims about group properties
Numerical robustness — quaternion-optimized SU(2), Higham inverse-scaling logarithm for SU(N), conditioned log with quality diagnostics

370 tests (318 unit + 52 doc) verify algebraic axioms — not just API surface — including exp/log roundtrips, Jacobi identity, bracket bilinearity, and BCH convergence across all groups.

Installation

[dependencies]
lie-groups = "0.1"

To disable random sampling (removes rand/rand_distr dependencies):

[dependencies]
lie-groups = { version = "0.1", default-features = false }

Quick start

use lie_groups::{LieGroup, LieAlgebra, SU2, Su2Algebra};

// Exponential map: algebra → group
let xi = Su2Algebra([0.1, 0.2, 0.3]);
let g = SU2::exp(&xi);

// Group operations — natural operator syntax
let h = SU2::exp(&Su2Algebra([0.4, 0.0, 0.0]));
let gh = &g * &h;        // group multiplication
let g_inv = g.inverse();

// Logarithm: group → algebra
let log_g = SU2::log(&g).unwrap();

// Algebra arithmetic — works like you'd expect
let x = Su2Algebra([1.0, 0.0, 0.0]);
let y = Su2Algebra([0.0, 1.0, 0.0]);
let sum = x + y;           // vector addition
let scaled = 2.0 * x;      // scalar multiplication
let diff = x - y;           // subtraction
let z = x.bracket(&y);     // [e₁, e₂] = -e₃

Groups

Group	Algebra	Dim	Representation	Notes
U(1)	u(1)	1	Phase on the unit circle	Abelian
SU(2)	su(2)	3	2×2 unitary, det = 1	Quaternion-optimized
SO(3)	so(3)	3	3×3 orthogonal, det = 1	Rotation group
SU(3)	su(3)	8	3×3 unitary, det = 1	Gell-Mann basis
SU(N)	su(N)	N²−1	N×N unitary, det = 1	Const generic N ≥ 2
R⁺	R	1	Positive reals ×	Abelian, non-compact

Generic programming with traits

Write algorithms once, run on any Lie group:

use lie_groups::{LieGroup, LieAlgebra, Compact};

/// Geodesic interpolation on any compact Lie group.
fn geodesic_midpoint<G: LieGroup + Compact>(a: &G, b: &G) -> G {
    let a_inv = a.inverse();
    let delta = a_inv.compose(b);
    let half_log = G::log(&delta).unwrap().scale(0.5);
    a.compose(&G::exp(&half_log))
}

Baker-Campbell-Hausdorff

Compose Lie algebra elements without passing through the group:

use lie_groups::{bch_second_order, Su2Algebra};

let x = Su2Algebra([0.1, 0.0, 0.0]);
let y = Su2Algebra([0.0, 0.1, 0.0]);

// BCH: log(exp(X) · exp(Y)) ≈ X + Y + ½[X,Y] + ...
let z = bch_second_order(&x, &y);

Higher orders available via bch_third_order, bch_fourth_order, bch_fifth_order.

Representation theory

use lie_groups::{LieGroup, Spin, character_su2, clebsch_gordan_decomposition, SU2, Su2Algebra};

// SU(2) spin-1 character at a group element
let g = SU2::exp(&Su2Algebra([0.0, 0.0, std::f64::consts::PI / 3.0]));
let chi = character_su2(Spin::from_integer(1), &g);

// Clebsch-Gordan: spin-½ ⊗ spin-½ = spin-0 ⊕ spin-1
let decomp = clebsch_gordan_decomposition(
    Spin::from_half_integer(1),  // j = 1/2
    Spin::from_half_integer(1),  // j = 1/2
);

Root systems, Weyl chambers, weight lattices, and Casimir operators for SU(2) and SU(3) are also available — see the API docs.

Conventions

su(2) basis: {iσ/2} (Pauli matrices divided by 2), structure constants fᵢⱼₖ = −εᵢⱼₖ
so(3) basis: angular momentum generators, structure constants fᵢⱼₖ = +εᵢⱼₖ
su(3) basis: Gell-Mann matrices {iλ/2}, standard normalization tr(λₐλᵦ) = 2δₐᵦ
Exponential map: exp: 𝔤 → G maps algebra elements to group elements
Logarithm: log: G → 𝔤 is the local inverse, returns Result with condition info

License

BSD-3-Clause. See LICENSE.

lie-groups 0.1.0