Given a smooth point on any manifold and a smooth path
in
the manifold such that
, one can construct a differential
operator on the
functions defined near
by the rule
For the Stiefel manifold, and, generally, all smooth constraint
manifolds, the tangent space at any point is easy to characterize.
The constraint equation can be thought of as
independent functions on
which must all have
constant value. If
is a tangent vector of
at
, it must then be that
For to be a tangent, its components must satisfy
independent equations. These equations are all linear in the
components of
, and thus the set of all tangents is an
-dimensional subspace of the vector space
.
A differential operator may be associated with an
matrix,
, given by
While tangents are matrices and, therefore,
have associated differential operators,
differentials are something else. Given a
function
and
a point
, one can consider the equation
for
(
is not necessarily tangent). This expression is linear in
and takes on some real value. It is thus possible to represent it as a
linear function on the vector space
,
dF
functions in the sample problems.
For any constraint manifold the
differential of a smooth function can be computed without having
to know anything about the manifold itself. One can simply use the
differentials as computed in the ambient space (the unconstrained
derivatives in our case). If one then restricts
one's differential operators to be only those in tangent directions,
then one can still use the unconstrained
in
to compute
for
. This is why it
requires no geometric knowledge to produce the
dF
functions.