This is a port of the ‘MIT Scmutils’ library to Chez Scheme. On top of providing a set of of procedures for numerical computations, the library provides a set of generic operators extending many mathematical functions and operators to work with

• symbolic values,
• vectors, matrices and structures (to represent, e.g., tensors)
• physical quantities (values with units),
• …

Load the libraries in the REPL (see below for further details):

(import (scmutils base)
        (scmutils generic)
        (scmutils calculus))
(start-scmutils-print!)

You can compute the derivative of a scalar or vector valued function evaluated at point ‘x with:

((D (up cos sin)) 'x)

where ‘up’ denotes a contravariant vector which is represented by a Scheme vector and ‘D’ is the generic derivative operator.

The operator ‘D’ is also used to compute the gradient of functions of multiple arguments:

(define (g x y)
  (sin (* x y)))
((D g) 'x0 'y0)

The result is a ‘down’ tuple’ representing a covariant vector which can be contracted with a contravariant vector to obtain the approximate change in the function ‘g’:

(* ((D g) 'x0 'y0)
   (up 'dx 'dy))

You can work with ‘structures’ (see refman) and with matrices:

(let ((M (matrix-by-rows (list 'a 0) (list 0 'b))))
  (determinant M))

For numerical computations the library includes procedures to solve differential equations, doing numerical integration, root finding and single- and multi-variable minimization among other things:

(minimize (square cos) 0 :pi)

You can work with units as well:

(/ (& 30 &centi &meter) :c)

with ‘:c’ the speed of light in m/s (one of several built-in constants).

To build the libraries run “make”. By default it looks for a Chez Scheme binary called “chez-scheme”. If the name of your binary is different, you can specify it as follows (for all targets):

make CHEZ=my-chez-scheme-bin

By default “make install” will install the libraries under the prefix “/usr/local”. You can specify a different installation prefix directory as follows:

make install PREFIX=/my-prefix/path

This will install all compiled libraries (*.so files) to $PREFIX/lib/csvX.Y-site, where X.Y is Chez’s version. If in addition you want to install the source files, use the ‘install-src’ target. They are installed in the same directory as the .so files.

The library consists of the following sub-libraries:

• (scmutils base): defines the fundamental part of the library. Currently we export most defined functions, even many internal ones. In the future we may clean up the list of exported symbols.
• (scmutils generic): exports the generic operators such as ‘+’, ‘*’, … with names equal to standard Scheme procedures.
• (scmutils mechanics): exports the functions described in the book ‘Structure and Interpretation of Classical Mechanics’ by G. J. Sussman and J. Wisdom.

  Note that, because Chez Scheme doesn’t provide a built-in graphics library, the plotting functions described in the book are not available. As an alternative, interfacing with ‘Gnuplot’ from Chez Scheme is pretty straight-forward.

• (scmutils calculus): exports the functions described in the book ‘Functional Differential Geometry’ by G. J. Sussman and J. Wisdom.

  Note that the (scmutils mechanics) library defines a version of ‘Lie-derivative’ which is less general than the one defined in (scmutils calculus). Be sure to use the latter for calculus purposes.

If you want to load everything you can just import all of above libraries in the indicated order, making sure to import ‘Lie-derivative’ from (scmutils calculus) and not from (scmutils mechanis).

Scmutils includes a custom REPL to drop internal tag information. To start it execute (start-scmutils-print!), to stop it use (stop-scmutils-print!). The custom REPL automatically simplify expression results before printing them.

Once the custom REPL is active and if you have LaTeX installed, the result of the last expression can be nicely displayed with the full mathematical formatting capability of LaTeX with the command ‘(de)’.

The original MIT/GNU Scheme Scmutils includes several global variables, usually identified by names starting and ending with ‘*’. Because the R6RS Scheme standard doesn’t allow libraries to export mutable variables, we changed most of them to ‘parameters’.

MIT/GNU Scheme has a very powerful condition system, including the ‘restart’ feature found in Common-Lisp. This allows one to extend Scheme without having to implement a new interpreter. This feature is used in Scmutils to allows, e.g., a vector of functions in operator position.

The condition system of R6RS Scheme is more limited and doesn’t provide ‘restarts’. As a consequence, sometimes one has to explicitly use the generic version of ‘apply’, called ‘g:apply’, instead of the Scheme native one. As an example, the following code produces an error of type “attempt to apply non-procedure”:

(((d (literal-manifold-function 'f-rect R2-rect))
  (coordinate-system->vector-basis R2-rect))
 ((point R2-rect) (up 'x0 'y0)))  

To fix the problem one has to explicitly use ‘g:apply’ as shown below:

(g:apply 
  ((d (literal-manifold-function 'f-rect R2-rect))
   (coordinate-system->vector-basis R2-rect))
  (list ((point R2-rect) (up 'x0 'y0))))  

This should only be necessary in code that you type at the REPL or in user defined functions.