Coordinate Charts on Differentiable Manifolds#
The class DiffChart
implements coordinate charts on a differentiable
manifold over a topological field \(K\) (in most applications, \(K = \RR\) or
\(K = \CC\)).
The subclass RealDiffChart
is devoted
to the case \(K=\RR\), 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 (20132015) : initial version
REFERENCES:
Chap. 1 of [Lee2013]
 class sage.manifolds.differentiable.chart.DiffChart(domain, coordinates, calc_method=None, periods=None, coord_restrictions=None)#
Bases:
Chart
Chart on a differentiable manifold.
Given a differentiable manifold \(M\) of dimension \(n\) over a topological field \(K\), a chart is a member \((U,\varphi)\) of the manifold’s differentiable atlas; \(U\) is then an open subset of \(M\) and \(\varphi: U \rightarrow V \subset K^n\) is a homeomorphism from \(U\) to an open subset \(V\) of \(K^n\).
The components \((x^1,\ldots,x^n)\) of \(\varphi\), defined by \(\varphi(p) = (x^1(p),\ldots,x^n(p))\in K^n\) for any point \(p\in U\), are called the coordinates of the chart \((U,\varphi)\).
INPUT:
domain
– open subset \(U\) on which the chart is definedcoordinates
– (default: ‘’ (empty string)) single string defining the coordinate symbols, with' '
(whitespace) as a separator; each item has at most three fields, separated by a colon (:
):the coordinate symbol (a letter or a few letters)
(optional) the period of the coordinate if the coordinate is periodic; the period field must be written as
period=T
, whereT
is the period (see examples below)(optional) the LaTeX spelling of the coordinate; if not provided the coordinate symbol given in the first field will be used
The order of 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’s backslash character (see examples below). If no period and no LaTeX spelling are to be set for any coordinate, the argumentcoordinates
can be omitted when the shortcut operator<,>
is used to declare the chart (see examples below).calc_method
– (default:None
) string defining the calculus method for computations involving coordinates of the chart; must be one of'SR'
: Sage’s default symbolic engine (Symbolic Ring)'sympy'
: SymPyNone
: the default ofCalculusMethod
will be used
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).coord_restrictions
: Additional restrictions on the coordinates. A restriction can be any symbolic equality or inequality involving the coordinates, such asx > y
orx^2 + y^2 != 0
. The items of the list (or set or frozenset)coord_restrictions
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 list (or set or frozenset)coord_restrictions
. For example:coord_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 listcoord_restrictions
contains only one item, this item can be passed as such, i.e. writingx > y
instead of the single element list[x > y]
. If the chart variables have not been declared as variables yet,coord_restrictions
must belambda
quoted.
EXAMPLES:
A chart on a complex 2dimensional 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 \((x,y)\) as global variables, one has to set:
sage: x,y = X[:]
However, a shortcut is to use the declarator
<x,y>
in the lefthand 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 coordinate \(y\) is accessible only through the global variabley1
: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() 2dimensional 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 2dimensional 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.Periodic coordinates are declared through the keyword
period=
in the coordinate field:sage: N = Manifold(2, 'N', field='complex') sage: XN.<Z1,Z2> = N.chart('Z1:period=1+2*I Z2') sage: XN.periods() (2*I + 1, None)
Coordinates are Sage symbolic variables (see
sage.symbolic.expression
):sage: type(z1) <class '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 \(\varphi\) 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 2dimensional 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, (∂/∂x,∂/∂y)) sage: Y.frame() Coordinate frame (U, (∂/∂z1,∂/∂z2))
as well as a dual frame (basis of 1forms):
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 \(\RR\). 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 2dimensional 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_with_category'>
Check that
c_xy.coframe()
is indeed the coordinate coframe associated with the coordinates \((x, y)\):sage: dx = c_xy.coframe()[0] ; dx 1form dx on the 2dimensional differentiable manifold M sage: dy = c_xy.coframe()[1] ; dy 1form dy on the 2dimensional differentiable manifold M sage: ex = c_xy.frame()[0] ; ex Vector field ∂/∂x on the 2dimensional differentiable manifold M sage: ey = c_xy.frame()[1] ; ey Vector field ∂/∂y on the 2dimensional differentiable manifold M sage: dx(ex).display() dx(∂/∂x): M → ℝ (x, y) ↦ 1 sage: dx(ey).display() dx(∂/∂y): M → ℝ (x, y) ↦ 0 sage: dy(ex).display() dy(∂/∂x): M → ℝ (x, y) ↦ 0 sage: dy(ey).display() dy(∂/∂y): M → ℝ (x, y) ↦ 1
 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 2dimensional manifold:
sage: M = Manifold(2, 'M') sage: c_xy.<x,y> = M.chart() sage: c_xy.frame() Coordinate frame (M, (∂/∂x,∂/∂y)) sage: type(c_xy.frame()) <class 'sage.manifolds.differentiable.vectorframe.CoordFrame_with_category'>
Check that
c_xy.frame()
is indeed the coordinate frame associated with the coordinates \((x,y)\):sage: ex = c_xy.frame()[0] ; ex Vector field ∂/∂x on the 2dimensional differentiable manifold M sage: ey = c_xy.frame()[1] ; ey Vector field ∂/∂y on the 2dimensional differentiable manifold M sage: ex(M.scalar_field(x)).display() 1: M → ℝ (x, y) ↦ 1 sage: ex(M.scalar_field(y)).display() zero: M → ℝ (x, y) ↦ 0 sage: ey(M.scalar_field(x)).display() zero: M → ℝ (x, y) ↦ 0 sage: ey(M.scalar_field(y)).display() 1: M → ℝ (x, y) ↦ 1
 restrict(subset, restrictions=None)#
Return the restriction of
self
to some subset.If the current chart is \((U, \varphi)\), a restriction (or subchart) is a chart \((V, \psi)\) such that \(V \subset U\) and \(\psi = \varphi _V\).
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 subset \(V\) of the chart domain \(U\)restrictions
– (default:None
) list of coordinate restrictions defining the subset \(V\)
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:
a
DiffChart
\((V, \psi)\)
EXAMPLES:
Coordinates on the unit open ball of \(\CC^2\) as a subchart of the global coordinates of \(\CC^2\):
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))
 symbolic_velocities(left='D', right=None)#
Return a list of symbolic variables ready to be used by the user as the derivatives of the coordinate functions with respect to a curve parameter (i.e. the velocities along the curve). It may actually serve to denote anything else than velocities, with a name including the coordinate functions. The choice of strings provided as ‘left’ and ‘right’ arguments is not entirely free since it must comply with Python prescriptions.
INPUT:
left
– (default:D
) string to concatenate to the left of each coordinate functions of the chartright
– (default:None
) string to concatenate to the right of each coordinate functions of the chart
OUTPUT:
a list of symbolic expressions with the desired names
EXAMPLES:
Symbolic derivatives of the Cartesian coordinates of the 3dimensional Euclidean space:
sage: R3 = Manifold(3, 'R3', start_index=1) sage: cart.<X,Y,Z> = R3.chart() sage: D = cart.symbolic_velocities(); D [DX, DY, DZ] sage: D = cart.symbolic_velocities(left='d', right="/dt"); D Traceback (most recent call last): ... ValueError: The name "dX/dt" is not a valid Python identifier. sage: D = cart.symbolic_velocities(left='d', right="_dt"); D [dX_dt, dY_dt, dZ_dt] sage: D = cart.symbolic_velocities(left='', right="'"); D Traceback (most recent call last): ... ValueError: The name "X'" is not a valid Python identifier. sage: D = cart.symbolic_velocities(left='', right="_dot"); D [X_dot, Y_dot, Z_dot] sage: R.<t> = manifolds.RealLine() sage: canon_chart = R.default_chart() sage: D = canon_chart.symbolic_velocities() ; D [Dt]
 transition_map(other, transformations, intersection_name=None, restrictions1=None, restrictions2=None)#
Construct the transition map between the current chart, \((U,\varphi)\) say, and another one, \((V,\psi)\) say.
If \(n\) is the manifold’s dimension, the transition map is the map
\[\psi\circ\varphi^{1}: \varphi(U\cap V) \subset K^n \rightarrow \psi(U\cap V) \subset K^n,\]where \(K\) is the manifold’s base field. In other words, the transition map expresses the coordinates \((y^1,\ldots,y^n)\) of \((V,\psi)\) in terms of the coordinates \((x^1,\ldots,x^n)\) of \((U,\varphi)\) on the open subset where the two charts intersect, i.e. on \(U\cap V\).
By definition, the transition map \(\psi\circ\varphi^{1}\) must be of class \(C^k\), where \(k\) is the degree of differentiability of the manifold (cf.
diff_degree()
).INPUT:
other
– the chart \((V,\psi)\)transformations
– tuple (or list) \((Y_1,\ldots,Y_2)\), where \(Y_i\) is the symbolic expression of the coordinate \(y^i\) in terms of the coordinates \((x^1,\ldots,x^n)\)intersection_name
– (default:None
) name to be given to the subset \(U\cap V\) if the latter differs from \(U\) or \(V\)restrictions1
– (default:None
) list of conditions on the coordinates of the current chart that define \(U\cap V\) if the latter differs from \(U\).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 singleelement list [x>y].restrictions2
– (default:None
) list of conditions on the coordinates of the chart \((V,\psi)\) that define \(U\cap V\) if the latter differs from \(V\) (seerestrictions1
for the syntax)
OUTPUT:
The transition map \(\psi\circ\varphi^{1}\) defined on \(U\cap V\), as an instance of
DiffCoordChange
.
EXAMPLES:
Transition map between two stereographic charts on the circle \(S^1\):
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 \(W\), intersection of \(U\) and \(V\), has been created by
transition_map()
:sage: F = M.subset_family(); F Set {S^1, U, V, W} of open subsets of the 1dimensional differentiable manifold S^1 sage: W = F['W'] 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 \(\RR^2\):
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 \(U\cap M = U\):
sage: M.subset_family() Set {R^2, U} of open subsets of the 2dimensional differentiable manifold R^2
but a new chart has been created: \((U, (x, y))\):
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:
CoordChange
Transition map between two charts of a differentiable manifold.
Giving two coordinate charts \((U,\varphi)\) and \((V,\psi)\) on a differentiable manifold \(M\) of dimension \(n\) over a topological field \(K\), the transition map from \((U,\varphi)\) to \((V,\psi)\) is the map
\[\psi\circ\varphi^{1}: \varphi(U\cap V) \subset K^n \rightarrow \psi(U\cap V) \subset K^n,\]In other words, the transition map \(\psi\circ\varphi^{1}\) expresses the coordinates \((y^1,\ldots,y^n)\) of \((V,\psi)\) in terms of the coordinates \((x^1,\ldots,x^n)\) of \((U,\varphi)\) on the open subset where the two charts intersect, i.e. on \(U\cap V\).
By definition, the transition map \(\psi\circ\varphi^{1}\) must be of class \(C^k\), where \(k\) is the degree of differentiability of the manifold (cf.
diff_degree()
).INPUT:
chart1
– chart \((U,\varphi)\)chart2
– chart \((V,\psi)\)transformations
– tuple (or list) \((Y_1,\ldots,Y_2)\), where \(Y_i\) is the symbolic expression of the coordinate \(y^i\) in terms of the coordinates \((x^1,\ldots,x^n)\)
EXAMPLES:
Transition map on a 2dimensional 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, xy]) 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
 jacobian()#
Return the Jacobian matrix of
self
.If
self
corresponds to the change of coordinates\[y^i = Y^i(x^1,\ldots,x^n)\qquad 1\leq i \leq n\]the Jacobian matrix \(J\) is given by
\[J_{ij} = \frac{\partial Y^i}{\partial x^j}\]where \(i\) is the row index and \(j\) the column one.
OUTPUT:
Jacobian matrix \(J\), the elements \(J_{ij}\) of which being coordinate functions (cf.
ChartFunction
)
EXAMPLES:
Jacobian matrix of a 2dimensional transition map:
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^2, 3*xy]) sage: X_to_Y.jacobian() [ 1 2*y] [ 3 1]
Each element of the Jacobian matrix is a coordinate function:
sage: parent(X_to_Y.jacobian()[0,0]) Ring of chart functions on Chart (M, (x, y))
 jacobian_det()#
Return the Jacobian determinant of
self
.The Jacobian determinant is the determinant of the Jacobian matrix (see
jacobian()
).OUTPUT:
determinant of the Jacobian matrix \(J\) as a coordinate function (cf.
ChartFunction
)
EXAMPLES:
Jacobian determinant of a 2dimensional transition map:
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^2, 3*xy]) sage: X_to_Y.jacobian_det() 6*y  1 sage: X_to_Y.jacobian_det() == det(X_to_Y.jacobian()) True
The Jacobian determinant is a coordinate function:
sage: parent(X_to_Y.jacobian_det()) Ring of chart functions on Chart (M, (x, y))
 class sage.manifolds.differentiable.chart.RealDiffChart(domain, coordinates, calc_method=None, bounds=None, periods=None, coord_restrictions=None)#

Chart on a differentiable manifold over \(\RR\).
Given a differentiable manifold \(M\) of dimension \(n\) over \(\RR\), a chart is a member \((U,\varphi)\) of the manifold’s differentiable atlas; \(U\) is then an open subset of \(M\) and \(\varphi: U \rightarrow V \subset \RR^n\) is a homeomorphism from \(U\) to an open subset \(V\) of \(\RR^n\).
The components \((x^1,\ldots,x^n)\) of \(\varphi\), defined by \(\varphi(p) = (x^1(p),\ldots,x^n(p))\in \RR^n\) for any point \(p\in U\), are called the coordinates of the chart \((U,\varphi)\).
INPUT:
domain
– open subset \(U\) on which the chart is definedcoordinates
– (default: ‘’ (empty string)) single string defining the coordinate symbols, with' '
(whitespace) as a separator; each item has at most four fields, separated by a colon (:
):the coordinate symbol (a letter or a few letters)
(optional) the interval \(I\) defining the coordinate range: if not provided, the coordinate is assumed to span all \(\RR\); otherwise \(I\) 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, nonopen 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) indicator of the periodic character of the coordinate, either as
period=T
, whereT
is the period, or as the keywordperiodic
(the value of the period is then deduced from the interval \(I\) declared in field 2; see examples below)(optional) the LaTeX spelling of the coordinate; if not provided the coordinate symbol given in the first field will be used
The order of fields 2 to 4 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’s backslash character (see examples below). If interval range, no period and no LaTeX spelling are to be set for any coordinate, the argumentcoordinates
can be omitted when the shortcut operator<,>
is used to declare the chart (see examples below).calc_method
– (default:None
) string defining the calculus method for computations involving coordinates of the chart; must be one of'SR'
: Sage’s default symbolic engine (Symbolic Ring)'sympy'
: SymPyNone
: the default ofCalculusMethod
will be used
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).coord_restrictions
: Additional restrictions on the coordinates. A restriction can be any symbolic equality or inequality involving the coordinates, such asx > y
orx^2 + y^2 != 0
. The items of the list (or set or frozenset)coord_restrictions
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 list (or set or frozenset)coord_restrictions
. For example:coord_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 listcoord_restrictions
contains only one item, this item can be passed as such, i.e. writingx > y
instead of the single element list[x > y]
. If the chart variables have not been declared as variables yet,coord_restrictions
must belambda
quoted.
EXAMPLES:
Cartesian coordinates on \(\RR^3\):
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 lefthand 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 coordinate \(y\) is accessible only through the global variabley1
: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 \(U\) of \(\RR^3\) that is the complement of the halfplane \(\{y=0, x\geq 0\}\):
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) <class '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)
A coordinate can be declared periodic by adding the keyword
periodic
to its range:sage: V = M.open_subset('V') sage: c_spher1.<r,th,ph1> = \ ....: V.chart(r'r:(0,+oo) th:(0,pi):\theta ph1:(0,2*pi):periodic:\phi_1') sage: c_spher1.periods() (None, None, 2*pi) sage: c_spher1.coord_range() r: (0, +oo); th: (0, pi); ph1: [0, 2*pi] (periodic)
It is equivalent to give the period as
period=2*pi
, skipping the coordinate range:sage: c_spher2.<r,th,ph2> = \ ....: V.chart(r'r:(0,+oo) th:(0,pi):\theta ph2:period=2*pi:\phi_2') sage: c_spher2.periods() (None, None, 2*pi) sage: c_spher2.coord_range() r: (0, +oo); th: (0, pi); ph2: [0, 2*pi] (periodic)
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)), Chart (V, (r, th, ph1)), Chart (V, (r, th, ph2))]
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 \(\varphi\) 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 3dimensional 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 \(U\) as an example of chart construction with coordinate restrictions: since \(U\) is the complement of the halfplane \(\{y=0, x\geq 0\}\), we must have \(y\not=0\) or \(x<0\) on U. Accordingly, we set:
sage: c_cartU.<x,y,z> = U.chart(coord_restrictions=lambda x,y,z: (y!=0, x<0)) ....: # the tuple (y!=0, x<0) means y!=0 or x<0 ....: # [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 (V, (r, th, ph1)), Chart (V, (r, th, ph2)), 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, (∂/∂x,∂/∂y,∂/∂z)) sage: c_spher.frame() Coordinate frame (U, (∂/∂r,∂/∂th,∂/∂ph))
as well as a dual frame (basis of 1forms):
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 \((U, \varphi)\), a restriction (or subchart) is a chart \((V, \psi)\) such that \(V \subset U\) and \(\psi = \varphi _V\).
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 subset \(V\) of the chart domain \(U\)restrictions
– (default:None
) list of coordinate restrictions defining the subset \(V\)
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:
a
RealDiffChart
\((V, \psi)\)
EXAMPLES:
Cartesian coordinates on the unit open disc in \(\RR^2\) 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 \(1 < \sqrt{x^2+y^2} < 2\):
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