This package contains a variety of functions that calculate or work with brackets, including bracket, commutator, derivedSeries, and lowerCentralSeries. Each function has two variants: those that work on only the provided vector fields, and those that work on a module of vector fields. The former type accept a Matrix as the parameter, while the latter type accept a Module as the parameter.
The documentation for each function explains what is calculated, and how.
Here is an example to illustrate the difference.
|
|
|
|
The generating vector fields of D commute but not all pairs of elements from the module D are commutative:
|
|
In this case only the first-order terms are necessary to achieve the results calculated by the Module versions of the functions:
|
|
|
|