A note for Lie-Poisson Hamilton-Jacobi equation and Lie-Poisson integrator (Q1900547)

This paper presents a direct Lie-Poisson, Hamilton-Jacobi theory. The authors show how to construct a Lie-Poisson integrator by generating function methods. Their construction differs in a significant detail from the Ge-Marsden algorithm. The authors offer an example in the mechanics of the rigid body to illustrate their approach and to highlight the drawbacks of the Ge-Marsden approach.