Design of C++ code      Overview of important files.
Manifold definitions    Manifold definitions
Problem definition      Problem definition
Product manifold definition
                        Product manifold definition
Trace                   Compute the trace of a square matrix
get.deriv.params        Get parameters to initialize numerical
                        differentiation
get.manifold.params     Get parameters to initialize manifold
get.solver.params       Get parameters to initialize solver
manifold.optim          Manifold optimization
orthonorm               Orthonormalize the columns of a matrix
print.ManifoldOptim     Print summary from 'manifold.optim' results
