passagemath-symbolics 10.6.43__cp314-cp314t-musllinux_1_2_x86_64.whl

sage/manifolds/differentiable/integrated_curve.py

@@ -0,0 +1,4035 @@
+# sage_setup: distribution = sagemath-symbolics
+r"""
+Integrated Curves and Geodesics in Manifolds
+
+Given a differentiable manifold `M`, an *integrated curve* in `M`
+is a differentiable curve constructed as a solution to a system of
+second order differential equations.
+
+Integrated curves are implemented by the class :class:`IntegratedCurve`, from
+which the classes :class:`IntegratedAutoparallelCurve` and
+:class:`IntegratedGeodesic` inherit.
+
+.. RUBRIC:: Example: a geodesic in the hyperbolic plane
+
+First declare the hyperbolic plane as a 2-dimensional Riemannian manifold ``M``
+and introduce the chart ``X`` corresponding to the Poincaré half-plane model::
+
+    sage: M = Manifold(2, 'M', structure='Riemannian')
+    sage: X.<x,y> = M.chart('x y:(0,+oo)')
+
+Then set the metric to be the hyperbolic one::
+
+    sage: g = M.metric()
+    sage: g[0,0], g[1,1] = 1/y^2, 1/y^2
+    sage: g.display()
+    g = y^(-2) dx⊗dx + y^(-2) dy⊗dy
+
+Pick an initial point and an initial tangent vector::
+
+    sage: p = M((0,1), name='p')
+    sage: v = M.tangent_space(p)((1,3/2), name='v')
+    sage: v.display()
+    v = ∂/∂x + 3/2 ∂/∂y
+
+Declare a geodesic with such initial conditions, denoting by `t` the
+corresponding affine parameter::
+
+    sage: t = var('t')
+    sage: c = M.integrated_geodesic(g, (t, 0, 10), v, name='c')
+
+Numerically integrate the geodesic (see :meth:`~IntegratedCurve.solve` for
+all possible options, including the choice of the numerical algorithm)::
+
+    sage: sol = c.solve()                                                               # needs scipy
+
+Plot the geodesic after interpolating the solution ``sol``::
+
+    sage: interp = c.interpolate()                                                      # needs scipy
+
+    sage: # needs scipy sage.plot
+    sage: graph = c.plot_integrated()
+    sage: p_plot = p.plot(size=30, label_offset=-0.07, fontsize=20)
+    sage: v_plot = v.plot(label_offset=0.05, fontsize=20)
+    sage: graph + p_plot + v_plot
+    Graphics object consisting of 5 graphics primitives
+
+.. PLOT::
+
+    M = Manifold(2, 'M', structure='Riemannian')
+    X = M.chart('x y'); x, y = X[:]
+    g = M.metric()
+    g[0,0], g[1,1] = 1/y**2, 1/y**2
+    p = M((0,1), name='p')
+    v = M.tangent_space(p)((1,3/2), name='v')
+    t = var('t')
+    c = M.integrated_geodesic(g, (t, 0, 10), v, name='c')
+    sol = c.solve()
+    interp = c.interpolate()
+    graph = c.plot_integrated()
+    p_plot = p.plot(size=30, label_offset=-0.07, fontsize=20)
+    v_plot = v.plot(label_offset=0.05, fontsize=20)
+    sphinx_plot(graph + p_plot + v_plot)
+
+`c` is a differentiable curve in `M` and inherits from the properties of
+:class:`~sage.manifolds.differentiable.curve.DifferentiableCurve`::
+
+    sage: c.domain()
+    Real interval (0, 10)
+    sage: c.codomain()
+    2-dimensional Riemannian manifold M
+    sage: c.display()
+    c: (0, 10) → M
+
+In particular, its value at `t=1` is::
+
+    sage: c(1)                                                                          # needs scipy
+    Point on the 2-dimensional Riemannian manifold M
+
+which corresponds to the following `(x, y)` coordinates::
+
+    sage: X(c(1))  # abs tol 1e-12                                                      # needs scipy
+    (2.4784140715580136, 1.5141683866138937)
+
+AUTHORS:
+
+- Karim Van Aelst (2017): initial version
+- Florentin Jaffredo (2018): integration over multiple charts, use of
+  ``fast_callable`` to improve the computation speed
+"""
+
+# **********************************************************************
+#       Copyright (C) 2017 Karim Van Aelst <karim.van-aelst@obspm.fr>
+#
+#  Distributed under the terms of the GNU General Public License (GPL)
+#  as published by the Free Software Foundation; either version 2 of
+#  the License, or (at your option) any later version.
+#                  https://www.gnu.org/licenses/
+# **********************************************************************
+
+from random import shuffle
+
+from sage.arith.srange import srange
+from sage.calculus.desolvers import desolve_odeint, desolve_system_rk4
+from sage.calculus.interpolation import Spline
+from sage.ext.fast_callable import fast_callable
+from sage.manifolds.chart import Chart
+from sage.manifolds.differentiable.curve import DifferentiableCurve
+from sage.manifolds.differentiable.tangent_vector import TangentVector
+from sage.misc.decorators import options
+from sage.misc.functional import numerical_approx
+from sage.misc.lazy_import import lazy_import
+from sage.rings.infinity import Infinity
+from sage.symbolic.expression import Expression
+from sage.symbolic.ring import SR
+
+lazy_import('scipy.integrate', 'ode')
+
+
+class IntegratedCurve(DifferentiableCurve):
+    r"""
+    Given a chart with coordinates denoted `(x_{1}, \ldots, x_{n})`,
+    an instance of :class:`IntegratedCurve` is a curve
+    `t \mapsto (x_{1}(t), \ldots, x_{n}(t))` constructed as a
+    solution to a system of second order differential equations
+    satisfied by the coordinate curves `t \mapsto x_{i}(t)`.
+
+    INPUT:
+
+    - ``parent`` --
+      :class:`~sage.manifolds.differentiable.manifold_homset.IntegratedCurveSet`
+      the set of curves `\mathrm{Hom_{integrated}}(I, M)` to which the
+      curve belongs
+    - ``equations_rhs`` -- list of the right-hand sides of the equations
+      on the velocities only (the term *velocity* referring to the
+      derivatives `d x_{i} / dt` of the coordinate curves)
+    - ``velocities`` -- list of the symbolic expressions used in
+      ``equations_rhs`` to denote the velocities
+    - ``curve_parameter`` -- symbolic expression used in
+      ``equations_rhs`` to denote the parameter of the curve (denoted
+      `t` in the descriptions above)
+    - ``initial_tangent_vector`` --
+      :class:`~sage.manifolds.differentiable.tangent_vector.TangentVector`
+      initial tangent vector of the curve
+    - ``chart`` -- (default: ``None``) chart on the manifold in
+      which the equations are given; if ``None`` the default chart
+      of the manifold is assumed
+    - ``name`` -- (default: ``None``) string; symbol given to the curve
+    - ``latex_name`` -- (default: ``None``) string; LaTeX symbol to
+      denote the curve; if none is provided, ``name`` will be used
+
+    EXAMPLES:
+
+    Motion of a charged particle in an axial magnetic field linearly
+    increasing in time and exponentially decreasing in space:
+
+    .. MATH::
+
+        \mathbf{B}(t,\mathbf{x}) = \frac{B_{0}t}{T} \exp \left(
+        -\frac{ x_{1}^{2} + x_{2}^{2} }{ L^{2} } \right) \mathbf{e_{3}}.
+
+    Equations of motion are:
+
+    .. MATH::
+
+        \begin{aligned}
+        \ddot{x}_{1}(t) &= \frac{qB(t,\mathbf{x}(t))}{m} \dot{x}_{2}(t), \\
+        \ddot{x}_{2}(t) &= -\frac{qB(t, \mathbf{x}(t))}{m} \dot{x}_{1}(t), \\
+        \ddot{x}_{3}(t) &= 0.
+        \end{aligned}
+
+    Start with declaring a chart on a 3-dimensional manifold and the
+    symbolic expressions denoting the velocities and the various
+    parameters::
+
+        sage: M = Manifold(3, 'M', start_index=1)
+        sage: X.<x1,x2,x3> = M.chart()
+        sage: var('t B_0 m q L T')
+        (t, B_0, m, q, L, T)
+        sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+        sage: D = X.symbolic_velocities(); D
+        [Dx1, Dx2, Dx3]
+        sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+
+    Set the initial conditions::
+
+        sage: p = M.point((0,0,0), name='p')
+        sage: Tp = M.tangent_space(p)
+        sage: v = Tp((1,0,1))
+
+    Declare an integrated curve and display information relative to it::
+
+        sage: c = M.integrated_curve(eqns, D, (t, 0, 5), v, name='c',
+        ....:                                              verbose=True)
+        The curve was correctly set.
+        Parameters appearing in the differential system defining the
+         curve are [B_0, L, T, m, q].
+        sage: c
+        Integrated curve c in the 3-dimensional differentiable
+         manifold M
+        sage: sys = c.system(verbose=True)
+        Curve c in the 3-dimensional differentiable manifold M
+         integrated over the Real interval (0, 5) as a solution to the
+         following system, written with respect to
+         Chart (M, (x1, x2, x3)):
+        <BLANKLINE>
+        Initial point: Point p on the 3-dimensional differentiable
+         manifold M with coordinates [0, 0, 0] with respect to
+         Chart (M, (x1, x2, x3))
+        Initial tangent vector: Tangent vector at Point p on
+         the 3-dimensional differentiable manifold M with
+         components [1, 0, 1] with respect to Chart (M, (x1, x2, x3))
+        <BLANKLINE>
+        d(x1)/dt = Dx1
+        d(x2)/dt = Dx2
+        d(x3)/dt = Dx3
+        d(Dx1)/dt = B_0*Dx2*q*t*e^(-(x1^2 + x2^2)/L^2)/(T*m)
+        d(Dx2)/dt = -B_0*Dx1*q*t*e^(-(x1^2 + x2^2)/L^2)/(T*m)
+        d(Dx3)/dt = 0
+        <BLANKLINE>
+
+    Generate a solution of the system and an interpolation of this
+    solution::
+
+        sage: sol = c.solve(step=0.2,                                                   # needs scipy
+        ....:         parameters_values={B_0:1, m:1, q:1, L:10, T:1},
+        ....:         solution_key='carac time 1', verbose=True)
+        Performing numerical integration with method 'odeint'...
+        Numerical integration completed.
+        <BLANKLINE>
+        Checking all points are in the chart domain...
+        All points are in the chart domain.
+        <BLANKLINE>
+        The resulting list of points was associated with the key
+         'carac time 1' (if this key already referred to a former
+         numerical solution, such a solution was erased).
+        sage: interp = c.interpolate(solution_key='carac time 1',                       # needs scipy
+        ....:                interpolation_key='interp 1', verbose=True)
+        Performing cubic spline interpolation by default...
+        Interpolation completed and associated with the key 'interp 1'
+         (if this key already referred to a former interpolation,
+         such an interpolation was erased).
+
+    Such an interpolation is required to evaluate the curve and the
+    vector tangent to the curve for any value of the curve parameter::
+
+        sage: # needs scipy
+        sage: p = c(1.9, verbose=True)
+        Evaluating point coordinates from the interpolation associated
+         with the key 'interp 1' by default...
+        sage: p
+        Point on the 3-dimensional differentiable manifold M
+        sage: p.coordinates()     # abs tol 1e-12
+        (1.377689074756845, -0.900114533011232, 1.9)
+        sage: v2 = c.tangent_vector_eval_at(4.3, verbose=True)
+        Evaluating tangent vector components from the interpolation
+         associated with the key 'interp 1' by default...
+        sage: v2
+        Tangent vector at Point on the 3-dimensional differentiable
+         manifold M
+        sage: v2[:]     # abs tol 1e-12
+        [-0.9425156073651124, -0.33724314284285434, 1.0]
+
+    Plotting a numerical solution (with or without its tangent vector
+    field) also requires the solution to be interpolated at least once::
+
+        sage: c_plot_2d_1 = c.plot_integrated(ambient_coords=[x1, x2],                  # needs scipy
+        ....:               interpolation_key='interp 1', thickness=2.5,
+        ....:               display_tangent=True, plot_points=200,
+        ....:               plot_points_tangent=10, scale=0.5,
+        ....:               color='blue', color_tangent='red',
+        ....:               verbose=True)
+        A tiny final offset equal to 0.000251256281407035 was introduced
+         for the last point in order to safely compute it from the
+         interpolation.
+        sage: c_plot_2d_1                                                               # needs scipy sage.plot
+        Graphics object consisting of 11 graphics primitives
+
+    .. PLOT::
+
+        M = Manifold(3, 'M')
+        X = M.chart('x1 x2 x3'); x1, x2, x3 = X[:]
+        t, B_0, m, q, L, T = var('t B_0 m q L T')
+        B = B_0*t/T*exp(-(x1**2 + x2**2)/L**2)
+        D = X.symbolic_velocities()
+        eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+        p = M.point((0,0,0), name='p')
+        Tp = M.tangent_space(p)
+        v = Tp((1,0,1))
+        c = M.integrated_curve(eqns, D, (t, 0, 5), v, name='c')
+        sol = c.solve(step=0.2,
+                      parameters_values={B_0:1, m:1, q:1, L:10, T:1},
+                      solution_key='carac time 1')
+        interp = c.interpolate(solution_key='carac time 1',
+                               interpolation_key='interp 1')
+        c_plot_2d_1 = c.plot_integrated(ambient_coords=[x1, x2],
+                        interpolation_key='interp 1', thickness=2.5,
+                        display_tangent=True, plot_points=200,
+                        plot_points_tangent=10, scale=0.5, color='blue',
+                        color_tangent='red')
+        sphinx_plot(c_plot_2d_1)
+
+    An instance of :class:`IntegratedCurve` may store several numerical
+    solutions and interpolations::
+
+        sage: # needs scipy
+        sage: sol = c.solve(step=0.2,
+        ....:         parameters_values={B_0:1, m:1, q:1, L:10, T:100},
+        ....:         solution_key='carac time 100')
+        sage: interp = c.interpolate(solution_key='carac time 100',
+        ....:                            interpolation_key='interp 100')
+        sage: c_plot_3d_100 = c.plot_integrated(interpolation_key='interp 100',         # needs sage.plot
+        ....:                   thickness=2.5, display_tangent=True,
+        ....:                   plot_points=200, plot_points_tangent=10,
+        ....:                   scale=0.5, color='green',
+        ....:                   color_tangent='orange')
+        sage: c_plot_3d_1 = c.plot_integrated(interpolation_key='interp 1',             # needs sage.plot
+        ....:                   thickness=2.5, display_tangent=True,
+        ....:                   plot_points=200, plot_points_tangent=10,
+        ....:                   scale=0.5, color='blue',
+        ....:                   color_tangent='red')
+        sage: c_plot_3d_1 + c_plot_3d_100                                               # needs sage.plot
+        Graphics3d Object
+
+    .. PLOT::
+
+        M = Manifold(3, 'M')
+        X = M.chart('x1 x2 x3'); x1, x2, x3 = X[:]
+        t, B_0, m, q, L, T = var('t B_0 m q L T')
+        B = B_0*t/T*exp(-(x1**2 + x2**2)/L**2)
+        D = X.symbolic_velocities()
+        eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+        p = M.point((0,0,0), name='p')
+        Tp = M.tangent_space(p)
+        v = Tp((1,0,1))
+        c = M.integrated_curve(eqns, D, (t, 0, 5), v, name='c')
+        sol = c.solve(step=0.2, parameters_values={B_0:1, m:1, q:1, L:10, T:1},
+                      solution_key='carac time 1')
+        interp = c.interpolate(solution_key='carac time 1',
+                               interpolation_key='interp 1')
+        sol = c.solve(step=0.2, parameters_values={B_0:1, m:1, q:1, L:10, T:100},
+                      solution_key='carac time 100')
+        interp = c.interpolate(solution_key='carac time 100',
+                               interpolation_key='interp 100')
+        c_plot_3d_1 = c.plot_integrated(interpolation_key='interp 1',
+                        thickness=2.5, display_tangent=True,
+                        plot_points=200, plot_points_tangent=10,
+                        scale=0.5, color='blue', color_tangent='red')
+        c_plot_3d_100 = c.plot_integrated(interpolation_key='interp 100',
+                            thickness=2.5, display_tangent=True,
+                            plot_points=200, plot_points_tangent=10,
+                            scale=0.5, color='green',
+                            color_tangent='orange')
+        graph = c_plot_3d_1 + c_plot_3d_100
+        sphinx_plot(graph)
+    """
+
+    def __init__(self, parent, equations_rhs, velocities,
+                 curve_parameter, initial_tangent_vector, chart=None,
+                 name=None, latex_name=None, verbose=False,
+                 across_charts=False):
+        r"""
+        Construct a curve defined by a system of second order
+        differential equations in the coordinate functions.
+
+        TESTS::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns + [x1], D, (t, 0, 5), v,
+            ....:                                              name='c')
+            Traceback (most recent call last):
+            ...
+            ValueError: number of equations should equal codomain
+             dimension
+            sage: c = M.integrated_curve(eqns, D + [x1], (t, 0, 5), v,
+            ....:                                              name='c')
+            Traceback (most recent call last):
+            ...
+            ValueError: number of velocities should equal codomain
+             dimension
+            sage: c = M.integrated_curve(eqns, D,(t,-oo,5), v, name='c')
+            Traceback (most recent call last):
+            ...
+            ValueError: both boundaries of the interval defining the
+             domain of a Homset of integrated curves need to be finite
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), x1, name='c')
+            Traceback (most recent call last):
+            ...
+            TypeError: x1 should be a tangent vector
+
+            sage: c = M.integrated_curve(eqns, D, (x1,0,5), v, name='c')
+            Traceback (most recent call last):
+            ...
+            ValueError: x1 should not be used as the curve parameter
+             since it also denotes a coordinate or a velocity
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c'); c
+            Integrated curve c in the 3-dimensional differentiable
+             manifold M
+            sage: TestSuite(c).run()
+
+        Check that :issue:`28669` is fixed::
+
+            sage: E.<r,phi> = EuclideanSpace(coordinates='polar')
+            sage: p = E((1, 0))  # the initial point
+            sage: v = E.tangent_space(p)((2, 1))  # the initial vector
+            sage: t = var('t')
+            sage: c = E.integrated_geodesic(E.metric(), (t, 0, 10), v); c
+            Integrated geodesic in the Euclidean plane E^2
+        """
+        from sage.symbolic.ring import SR
+
+        # start with parent class method to initialize the four last
+        # arguments:
+        DifferentiableCurve.__init__(self, parent, name=name,
+                                     latex_name=latex_name)
+
+        # check argument 'parent': 't_min' and 't_max' below are only
+        # allowed to be either expressions of finite real values:
+        domain = self.domain()
+        t_min = domain.lower_bound()
+        t_max = domain.upper_bound()
+        if t_min == -Infinity or t_max == +Infinity:
+            raise ValueError("both boundaries of the interval " +
+                             "need to be finite")
+
+        codomain = self.codomain()
+
+        # check argument 'equations_rhs':
+        dim = codomain.dim()
+
+        if not isinstance(equations_rhs, dict):
+            if len(equations_rhs) != dim:
+                raise ValueError("number of equations should equal " +
+                                 "codomain dimension")
+        else:
+            for eq in equations_rhs.values():
+                if len(eq) != dim:
+                    raise ValueError("number of equations should equal " +
+                                     "codomain dimension")
+
+        # check the chart:
+        if chart is not None:
+            if chart not in codomain.atlas():
+                raise ValueError("{} should be a chart ".format(chart) +
+                                 "on the {}".format(codomain))
+        else:
+            chart = codomain.default_chart()
+
+        # check argument 'velocities':
+        if len(velocities) != dim:
+            raise ValueError("number of velocities should equal " +
+                             "codomain dimension")
+        # in particular, check that no velocity coincides with a
+        # coordinate:
+        for vel in velocities:
+            if vel in chart[:]:
+                str_error = "{} should not be used as a ".format(vel)
+                str_error += "velocity since it also denotes "
+                str_error += "a coordinate"
+                raise ValueError(str_error)
+
+        # check argument 'curve_parameter':
+        if not isinstance(curve_parameter, Expression):
+            raise TypeError("{} should be ".format(curve_parameter) +
+                             "a symbolic expression")
+        # in particular, check that it does not coincide with a
+        # coordinate or a velocity:
+        coords_vels = list(chart[:]) + list(velocities)
+        if curve_parameter in coords_vels:
+            str_error = "{} should not be used ".format(curve_parameter)
+            str_error += "as the curve parameter since it also denotes "
+            str_error += "a coordinate or a velocity"
+            raise ValueError(str_error)
+        # the various algorithms called in 'solve' method are in charge
+        # of raising errors about possibly remaining problems regarding
+        # 'curve_parameter'
+
+        # check argument 'initial_tangent_vector':
+        if not isinstance(initial_tangent_vector, TangentVector):
+            raise TypeError("{} ".format(initial_tangent_vector) +
+                            "should be a tangent vector")
+        initial_pt = initial_tangent_vector.parent().base_point()
+        # line above retrieves the initial point as the base point of
+        # the tangent space to which the initial tangent vector belongs
+        initial_pt_coords = initial_pt.coordinates(chart)
+        # prepare attribute '_parameters':
+        announced_variables = set(coords_vels + [curve_parameter])
+        parameters = set()
+        # extract all the variables appearing in the equations:
+        for eqn in equations_rhs:
+            if isinstance(eqn, Expression):
+                # some right hand sides
+                # might merely be real numbers and not expressions, so that
+                # they do not contain any variable, and method 'variables'
+                # could not be called on them
+                parameters = parameters.union(eqn.variables())
+        # remove the Expressions that should not be treated as
+        # parameters (i.e. the coordinate functions, the velocities and
+        # the curve parameter):
+        parameters = parameters.difference(announced_variables)
+        # extract all the variables appearing in the boundaries:
+        if isinstance(t_min, Expression):
+            parameters = parameters.union(t_min.variables())
+        if isinstance(t_max, Expression):
+            parameters = parameters.union(t_max.variables())
+        # extract all the variables appearing in the initial point
+        # coordinates:
+        for coord in initial_pt_coords:
+            if isinstance(coord, Expression):
+                parameters = parameters.union(coord.variables())
+        # extract all the variables appearing in the initial tangent
+        # vector components:
+        initial_coord_basis = chart.frame().at(initial_pt)
+        initial_tgt_vec_comps = initial_tangent_vector[initial_coord_basis,:]
+        for comp in initial_tgt_vec_comps:
+            if isinstance(comp, Expression):
+                parameters = parameters.union(comp.variables())
+
+        # check at this stage that no parameter coincides with a
+        # coordinate, a velocity, or the curve parameter; this would
+        # mean that an Expression used to denote either a bound, a
+        # coordinate of the initial point or a component of the initial
+        # tangent vector coincides with a coordinate, a velocity or the
+        # curve parameter (which would make no sense):
+        if len(parameters) != 0:
+            for param in parameters:
+                if param in announced_variables:
+                    str_error = "{} should not be used ".format(param)
+                    str_error += "as a parameter since it also denotes "
+                    str_error += "a coordinate, a velocity or the "
+                    str_error += "curve parameter"
+                    raise ValueError(str_error)
+
+        # define all attributes
+        if not isinstance(equations_rhs, dict):
+            self._equations_rhs = list(equations_rhs)  # converts to list
+            # since might not already be a list (which is later required)
+        else:  # case multi charts
+            self._equations_rhs = equations_rhs
+
+        self._across_charts = across_charts
+        if across_charts:
+            # pre-compute the changes of chart for faster switching
+            # approx gain : 200 ms per switch
+            self._fast_changes_of_frame = {}
+            self._fast_changes_of_chart = {}
+            for CoF in self._codomain.changes_of_frame():
+                M = self._codomain.changes_of_frame()[CoF][CoF[1], :, CoF[1]._chart]
+                M = M.apply_map(lambda e: e.expr())
+                M = M.numpy()
+                for i in range(dim):
+                    for j in range(dim):
+                        M[i, j] = fast_callable(SR(M[i, j]), vars=list(CoF[1]._chart[:]), domain=float)
+
+                import numpy as np
+
+                def fast_CoF(pos, vel, M=M):
+                    # using default arguments for binding (ugly python)
+                    # print(det(*pos))
+                    return list(np.dot([[M[j, i](*pos) for i in range(dim)]
+                                        for j in range(dim)], vel))
+
+                self._fast_changes_of_frame[CoF] = fast_CoF
+
+            for CoC in self._codomain._coord_changes:
+                transf = self._codomain._coord_changes[CoC]._transf
+                fast_transf = [fast_callable(f.expr(), vars=list(CoC[0][:]), domain=float)
+                               for f in transf]
+                self._fast_changes_of_chart[CoC] = fast_transf
+
+        self._velocities = list(velocities)  # converts to list
+        # since might not already be a list (which is later required)
+        self._curve_parameter = curve_parameter
+        self._initial_tangent_vector = initial_tangent_vector
+        self._chart = chart
+        self._parameters = parameters
+        self._ode_solver = None # if needed, becomes an instance of
+        # 'ode_solver', which performs most of the numerical integrations
+        # offered by method 'solve'
+        self._solutions = {} # dictionary containing all numerically
+        # computed lists of points of the curve, the keys being chosen
+        # by the user when calling method 'solve'
+        self._interpolations = {} # dictionary containing lists of
+        # interpolation objects, each interpolation object implementing
+        # the interpolation of one of the numerical coordinate curves,
+        # and the keys being chosen by the user when calling
+        # method 'interpolate'
+
+        if verbose:
+            print("The curve was correctly set.")
+            if self._parameters:
+                print("Parameters appearing in the differential " +
+                      "system defining the curve are " +
+                      "{}.".format(sorted(self._parameters, key=str)))
+            else:
+                print("No parameter appears in the differential " +
+                      "system defining the curve.")
+
+    def _repr_(self):
+        r"""
+        Return a string representation of ``self``.
+
+        TESTS::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t, 0, 5), v) ; c
+            Integrated curve in the 3-dimensional differentiable
+             manifold M
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c'); c
+            Integrated curve c in the 3-dimensional differentiable
+             manifold M
+        """
+
+        description = "Integrated curve "
+        if self._name is not None:
+            description += self._name + " "
+        description += "in the {}".format(self._codomain)
+        return description
+
+    def __reduce__(self):
+        r"""
+        Reduction function for the pickle protocole.
+
+        TESTS::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c')
+            sage: c.__reduce__()
+            (<class 'sage.manifolds.differentiable.manifold_homset.IntegratedCurveSet_with_category.element_class'>,
+             (Set of Morphisms from Real interval (0, 5) to
+              3-dimensional differentiable manifold M in Category of homsets of
+              topological spaces which actually are integrated curves,
+              [B_0*Dx2*q*t*e^(-(x1^2 + x2^2)/L^2)/(T*m),
+               -B_0*Dx1*q*t*e^(-(x1^2 + x2^2)/L^2)/(T*m),
+               0],
+              [Dx1, Dx2, Dx3],
+              t,
+              Tangent vector at Point p on the 3-dimensional
+               differentiable manifold M,
+              Chart (M, (x1, x2, x3)),
+              'c',
+              'c',
+              False,
+              False))
+
+        Test of pickling::
+
+            sage: loads(dumps(c))
+            Integrated curve c in the 3-dimensional differentiable
+             manifold M
+        """
+        return (type(self), (self.parent(), self._equations_rhs,
+                self._velocities, self._curve_parameter,
+                self._initial_tangent_vector, self._chart,
+                self._name, self._latex_name, False, self._across_charts))
+
+    def system(self, verbose=False):
+        r"""
+        Provide a detailed description of the system defining the curve
+        and return the system defining it: chart, equations and initial
+        conditions.
+
+        INPUT:
+
+        - ``verbose`` -- boolean (default: ``False``); prints a detailed
+          description of the curve
+
+        OUTPUT: list containing
+
+          * the equations
+          * the initial conditions
+          * the chart
+
+        EXAMPLES:
+
+        System defining an integrated curve::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c')
+            sage: sys = c.system(verbose=True)
+            Curve c in the 3-dimensional differentiable manifold M
+             integrated over the Real interval (0, 5) as a solution to
+             the following system, written with respect to
+             Chart (M, (x1, x2, x3)):
+            <BLANKLINE>
+            Initial point: Point p on the 3-dimensional differentiable
+             manifold M with coordinates [0, 0, 0] with respect to
+             Chart (M, (x1, x2, x3))
+            Initial tangent vector: Tangent vector at Point p on the
+             3-dimensional differentiable manifold M with
+             components [1, 0, 1] with respect to Chart (M, (x1, x2, x3))
+            <BLANKLINE>
+            d(x1)/dt = Dx1
+            d(x2)/dt = Dx2
+            d(x3)/dt = Dx3
+            d(Dx1)/dt = B_0*Dx2*q*t*e^(-(x1^2 + x2^2)/L^2)/(T*m)
+            d(Dx2)/dt = -B_0*Dx1*q*t*e^(-(x1^2 + x2^2)/L^2)/(T*m)
+            d(Dx3)/dt = 0
+            <BLANKLINE>
+            sage: sys_mute = c.system()
+            sage: sys_mute == sys
+            True
+        """
+
+        v0 = self._initial_tangent_vector
+        chart = self._chart
+
+        if verbose:
+            initial_tgt_space = v0.parent()
+            initial_pt = initial_tgt_space.base_point() # retrieves
+            # the initial point as the base point of the tangent space
+            # to which initial tangent vector belongs
+            initial_pt_coords = list(initial_pt.coordinates(chart))
+            # previous line converts to list since would otherwise be a
+            # tuple ; will raise error if coordinates in chart are not
+            # known
+
+            initial_coord_basis = chart.frame().at(initial_pt)
+            initial_tgt_vec_comps = v0[initial_coord_basis,:] # will
+            # raise error if components in coordinate basis are not
+            # known
+
+            description = "Curve "
+            if self._name is not None:
+                description += self._name + " "
+            description += "in the {} ".format(self.codomain())
+            description += "integrated over the "
+            description += "{} ".format(self.domain())
+            description += "as a solution to the following system, "
+            description += "written with respect to "
+            description += "{}:\n\n".format(chart)
+
+            description += "Initial point: {} ".format(initial_pt)
+            description += "with coordinates "
+            description += "{} ".format(initial_pt_coords)
+            description += "with respect to {}\n".format(chart)
+
+            description += "Initial tangent vector: {} ".format(v0)
+            description += "with components "
+            description += "{}".format(initial_tgt_vec_comps)
+            description += " with respect to {}\n\n".format(chart)
+
+            for coord_func,velocity in zip(chart[:],self._velocities):
+                description += "d({})/d{} = {}\n".format(coord_func,
+                                                  self._curve_parameter,
+                                                  velocity)
+
+            for velocity,eqn in zip(self._velocities,self._equations_rhs):
+                description += "d({})/d{} = {}\n".format(velocity,
+                                                  self._curve_parameter,
+                                                  eqn)
+
+            print(description)
+
+        return [self._equations_rhs, v0, chart]
+
+    def solve_analytical(self, verbose=False):
+        r"""
+        Solve the differential system defining ``self`` analytically.
+
+        Solve analytically the differential system defining a curve
+        using Maxima via Sage solver ``desolve_system``.
+        In case of success, the analytical expressions are added to the
+        dictionary of expressions representing the curve.
+        Pay attention to the fact that ``desolve_system`` only considers
+        initial conditions given at an initial parameter value equal to
+        zero, although the parameter range may not contain zero.
+        Yet, assuming that it does, values of the coordinates functions
+        at such zero initial parameter value are denoted by the name of
+        the coordinate function followed by the string ``'_0'``.
+
+        OUTPUT:
+
+        - list of the analytical expressions of the coordinate functions
+          (when the differential system could be solved analytically),
+          or boolean ``False`` (in case the differential system could
+          not be solved analytically)
+
+        EXAMPLES:
+
+        Analytical expression of the trajectory of a charged particle in
+        a uniform, stationary magnetic field::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q] = var('t B_0 m q')
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B_0/m*D[1], -q*B_0/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c')
+            sage: sys = c.system(verbose=True)
+            Curve c in the 3-dimensional differentiable manifold M
+             integrated over the Real interval (0, 5) as a solution to
+             the following system, written with respect to
+             Chart (M, (x1, x2, x3)):
+            <BLANKLINE>
+            Initial point: Point p on the 3-dimensional differentiable
+             manifold M with coordinates [0, 0, 0] with respect to
+             Chart (M, (x1, x2, x3))
+            Initial tangent vector: Tangent vector at Point p on the
+             3-dimensional differentiable manifold M with components
+             [1, 0, 1] with respect to Chart (M, (x1, x2, x3))
+            <BLANKLINE>
+            d(x1)/dt = Dx1
+            d(x2)/dt = Dx2
+            d(x3)/dt = Dx3
+            d(Dx1)/dt = B_0*Dx2*q/m
+            d(Dx2)/dt = -B_0*Dx1*q/m
+            d(Dx3)/dt = 0
+            <BLANKLINE>
+            sage: sol = c.solve_analytical()
+            sage: c.expr()
+            ((B_0*q*x1_0 - Dx2_0*m*cos(B_0*q*t/m) +
+               Dx1_0*m*sin(B_0*q*t/m) + Dx2_0*m)/(B_0*q),
+             (B_0*q*x2_0 + Dx1_0*m*cos(B_0*q*t/m) +
+              Dx2_0*m*sin(B_0*q*t/m) - Dx1_0*m)/(B_0*q),
+             Dx3_0*t + x3_0)
+        """
+
+        from sage.calculus.desolvers import desolve_system
+        from sage.calculus.functional import diff
+        from sage.calculus.var import function
+        from sage.symbolic.assumptions import assume, forget
+        from sage.symbolic.ring import var
+
+        dim = self.codomain().dim()
+        i0 = self.codomain().start_index()
+        des = self._velocities + self._equations_rhs
+        par = self._curve_parameter
+
+        for param in self._parameters:
+            assume(param != 0)
+
+        y = []
+        for i in range(2*dim):
+            name = "y{}".format(i+i0)
+            y += [function(name)(par)]
+
+        for i in range(dim):
+            vel = self._velocities[i]
+            des[i] = des[i].substitute({vel: y[dim+i]})
+            des[i] = diff(y[i],par) == des[i]
+            for j in range(dim):
+                coord = self._chart[:][j] # important to use '[:]' on
+                # 'chart' to avoid problems due to nonzero starting
+                # index (i0)
+                veloc = self._velocities[j]
+                des[dim+i] = des[dim+i].substitute({coord: y[j]})
+                des[dim+i] = des[dim+i].substitute({veloc: y[dim+j]})
+            des[dim+i] = (diff(y[dim+i], par) == des[dim+i])
+
+        dvars = y
+        ics = [0]
+        y_ics_first_half = []
+        y_ics_second_half = []
+        for i in range(dim):
+            coord = self._chart[:][i] # important to use '[:]'
+            # on 'chart' to avoid problems due to nonzero
+            # starting index (i0)
+            veloc = self._velocities[i]
+            str_var_coord = "{}_0".format(coord)
+            str_var_veloc = "{}_0".format(veloc)
+            y_coord_0 = var(str_var_coord)
+            y_veloc_0 = var(str_var_veloc)
+            y_ics_first_half += [y_coord_0]
+            y_ics_second_half += [y_veloc_0]
+        ics += y_ics_first_half + y_ics_second_half
+
+        try:
+            sol = desolve_system(des, dvars, ivar=self._curve_parameter, ics=ics)
+        except NotImplementedError:
+            coords_sol_expr = False
+            if verbose:
+                print("The system could not be solved analytically.")
+        else:
+            coords_sol_expr = []
+            for relation in sol[:dim]:
+                expr = relation.rhs().simplify_full()
+                coords_sol_expr += [expr]
+            self.add_expr(self.domain().default_chart(), self._chart,
+                                                        coords_sol_expr)
+
+        for param in self._parameters:
+            forget(param != 0)
+
+        return tuple(coords_sol_expr)
+
+    def solve(self, step=None, method='odeint', solution_key=None,
+              parameters_values=None, verbose=False, **control_param):
+        r"""
+        Integrate the curve numerically over the domain of definition.
+
+        INPUT:
+
+        - ``step`` -- (default: ``None``) step of integration; default
+          value is a hundredth of the domain of integration if none is
+          provided
+        - ``method`` -- (default: ``'odeint'``) numerical scheme to
+          use for the integration of the curve; available algorithms are:
+
+          * ``'odeint'`` -- makes use of
+            :func:`scipy:scipy.integrate.odeint`
+            via Sage solver
+            :func:`~sage.calculus.desolvers.desolve_odeint`; ``odeint`` invokes
+            the LSODA algorithm of the
+            `ODEPACK suite <https://www.netlib.org/odepack/>`_, which
+            automatically selects between implicit Adams method (for non-stiff
+            problems) and a method based on backward differentiation formulas
+            (BDF) (for stiff problems).
+          * ``'rk4_maxima'`` -- 4th order classical Runge-Kutta, which
+            makes use of Maxima's dynamics package via Sage solver
+            :func:`~sage.calculus.desolvers.desolve_system_rk4` (quite slow)
+          * ``'dopri5'`` -- Dormand-Prince Runge-Kutta of order (4)5 provided by
+            :obj:`scipy:scipy.integrate.ode`
+          * ``'dop853'`` -- Dormand-Prince Runge-Kutta of order 8(5,3) provided by
+            :obj:`scipy:scipy.integrate.ode`
+
+          and those provided by ``GSL`` via Sage class
+          :class:`~sage.calculus.ode.ode_solver`:
+
+          * ``'rk2'`` -- embedded Runge-Kutta (2,3)
+          * ``'rk4'`` -- 4th order classical Runge-Kutta
+          * ``'rkf45'`` -- Runge-Kutta-Felhberg (4,5)
+          * ``'rkck'`` -- embedded Runge-Kutta-Cash-Karp (4,5)
+          * ``'rk8pd'`` -- Runge-Kutta Prince-Dormand (8,9)
+          * ``'rk2imp'`` -- implicit 2nd order Runge-Kutta at Gaussian points
+          * ``'rk4imp'`` -- implicit 4th order Runge-Kutta at Gaussian points
+          * ``'gear1'`` -- `M=1` implicit Gear
+          * ``'gear2'`` -- `M=2` implicit Gear
+          * ``'bsimp'`` -- implicit Bulirsch-Stoer (requires Jacobian)
+
+        - ``solution_key`` -- (default: ``None``) key which the
+          resulting numerical solution will be associated to; a default
+          value is given if none is provided
+        - ``parameters_values`` -- (default: ``None``) list of numerical
+          values of the parameters present in the system defining the
+          curve, to be substituted in the equations before integration
+        - ``verbose`` -- boolean (default: ``False``); prints information about
+          the computation in progress
+        - ``**control_param`` -- extra control parameters to be passed to the
+          chosen solver; see the example with ``rtol`` and ``atol`` below
+
+        OUTPUT: list of the numerical points of the computed solution
+
+        EXAMPLES:
+
+        Computing a numerical solution::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c')
+            sage: sol = c.solve(parameters_values={B_0:1, m:1, q:1, L:10, T:1},         # needs scipy
+            ....:               verbose=True)
+            Performing numerical integration with method 'odeint'...
+            Resulting list of points will be associated with the key
+             'odeint' by default.
+            Numerical integration completed.
+            <BLANKLINE>
+            Checking all points are in the chart domain...
+            All points are in the chart domain.
+            <BLANKLINE>
+            The resulting list of points was associated with the key
+             'odeint' (if this key already referred to a former
+             numerical solution, such a solution was erased).
+
+        The first 3 points of the solution, in the form ``[t, x1, x2, x3]``::
+
+            sage: sol[:3]  # abs tol 1e-12                                              # needs scipy
+            [[0.0, 0.0, 0.0, 0.0],
+             [0.05, 0.04999999218759271, -2.083327338392213e-05, 0.05],
+             [0.1, 0.09999975001847655, -0.00016666146190783666, 0.1]]
+
+        The default is ``verbose=False``::
+
+            sage: sol_mute = c.solve(parameters_values={B_0:1, m:1, q:1,                # needs scipy
+            ....:                                       L:10, T:1})
+            sage: sol_mute == sol                                                       # needs scipy
+            True
+
+        Specifying the relative and absolute error tolerance parameters to
+        be used in :func:`~sage.calculus.desolvers.desolve_odeint`::
+
+            sage: sol = c.solve(parameters_values={B_0:1, m:1, q:1, L:10, T:1},         # needs scipy
+            ....:               rtol=1e-12, atol=1e-12)
+
+        Using a numerical method different from the default one::
+
+            sage: sol = c.solve(parameters_values={B_0:1, m:1, q:1, L:10, T:1},         # needs scipy
+            ....:               method='rk8pd')
+
+
+        TESTS::
+
+            sage: sol = c.solve(parameters_values={m:1, q:1, L:10, T:1})                # needs scipy
+            Traceback (most recent call last):
+            ...
+            ValueError: numerical values should be provided for each of
+             the parameters [B_0, L, T, m, q]
+            sage: sol = c.solve(method='my method',                                     # needs scipy
+            ....:        parameters_values={B_0:1, m:1, q:1, L:10, T:1})
+            Traceback (most recent call last):
+            ...
+            ValueError: no available method of integration referred to
+             as 'my method'
+        """
+        from sage.symbolic.ring import SR
+
+        if verbose:
+            print("Performing numerical integration with method '" +
+                  method + "'...")
+
+        if solution_key is None:
+            solution_key = method
+            if verbose:
+                print("Resulting list of points will be associated " +
+                      "with the key '{}' ".format(solution_key) +
+                      "by default.")
+
+        t_min = self.domain().lower_bound()
+        t_max = self.domain().upper_bound()
+
+        eqns_num = list(self._equations_rhs)
+        # 'self._equations_rhs' needs not to be modified ever, because we
+        # want to keep track of the most general form of the equations
+        # defining self, since those may contain parameters (which, for
+        # instance, we want to display as their original expressions
+        # when calling 'system' method with option 'verbose', and not
+        # substituted with some numerical values).
+        # This is why 'eqns_num' is declared: it will contain copies of
+        # the equations of 'self._equations_rhs' in which the parameters
+        # will be substituted with numerical values.
+        # It was then important to declare it as above, in order to make
+        # independent copies of each equations of 'self._equations_rhs',
+        # rather than declaring 'eqns_num = self._equations_rhs', in which
+        # case making substitutions in 'eqns_num' would have meant making
+        # the same substitutions in the original equations of
+        # 'self._equations_rhs'
+
+        v0 = self._initial_tangent_vector
+        chart = self._chart
+
+        initial_tgt_space = v0.parent()
+        initial_pt = initial_tgt_space.base_point() # retrieves
+        # the initial point as the base point of the tangent space
+        # to which the initial tangent vector belongs
+        initial_pt_coords = list(initial_pt.coordinates(chart))
+        # previous line converts to list since would otherwise be a
+        # tuple (yet might need to be added to [t_min] later); will
+        # raise error if coordinates in chart cannot be obtained
+
+        initial_coord_basis = chart.frame().at(initial_pt)
+        initial_tgt_vec_comps = list(v0[initial_coord_basis,:])  # idem
+
+        dim = self.codomain().dim()
+
+        if self._parameters:
+            if parameters_values is None or len(parameters_values) != len(self._parameters):
+                raise ValueError("numerical values should be " +
+                                 "provided for each of the " +
+                                 "parameters "
+                                 "{}".format(sorted(self._parameters, key=str)))
+            for key in parameters_values:
+                # Get numerical values in case some parameters values
+                # contain expressions such as pi; will raise error if
+                # any element of parameters_values is not numerical
+                parameters_values[key] = numerical_approx(parameters_values[key])
+
+            if isinstance(t_min, Expression):
+                t_min = parameters_values[t_min]
+                if t_min == -Infinity or t_min == +Infinity:
+                    raise ValueError("both boundaries of the " +
+                                      "interval need to be finite")
+
+            if isinstance(t_max, Expression):
+                t_max = parameters_values[t_max]
+                if t_max == -Infinity or t_max == +Infinity:
+                    raise ValueError("both boundaries of the " +
+                                     "interval need to be finite")
+
+            for i in range(dim):
+                if isinstance(eqns_num[i], Expression): # some right
+                    # hand sides might merely be real numbers and not
+                    # expressions, so that they do not contain any variable,
+                    # and hence no substitution is required
+                    eqns_num[i] = eqns_num[i].substitute(parameters_values)
+
+            for i in range(dim):
+                if isinstance(initial_pt_coords[i], Expression):
+                    AUX = initial_pt_coords[i]
+                    AUX = AUX.substitute(parameters_values)
+                    initial_pt_coords[i] = AUX
+                if isinstance(initial_tgt_vec_comps[i], Expression):
+                    AUX2 = initial_tgt_vec_comps[i]
+                    AUX2 = AUX2.substitute(parameters_values)
+                    initial_tgt_vec_comps[i] = AUX2
+                # 'AUX' and 'AUX2' only used for the lines of
+                # source code to be shorter
+
+        t_min = numerical_approx(t_min)
+        t_max = numerical_approx(t_max)
+
+        for i in range(dim):
+            if not isinstance(eqns_num[i], Expression):
+                # in case of a
+                # right hand side that is not an Expression (and then is a
+                # number), it is needed to be converted to an Expression
+                # since some solvers called below require only expressions
+                eqns_num[i] = SR(eqns_num[i])
+
+        if step is None:
+            step = (t_max - t_min) / 100
+
+        step = numerical_approx(step)
+
+        initial_pt_coords = [numerical_approx(coord) for coord
+                             in initial_pt_coords]
+        initial_tgt_vec_comps = [numerical_approx(comp) for comp
+                                 in initial_tgt_vec_comps]
+        # the last two instructions retrieve numerical values even
+        # if no parameters had to be substituted, in case some
+        # coordinates or components contain expressions such as pi,
+        # or are not RealNumber, since variable 'ics' of
+        # 'desolve_system_rk4' used below needs to be a list of
+        # RealNumber
+
+        if not chart.valid_coordinates(*initial_pt_coords):
+            raise ValueError("initial point should be in the " +
+                             "domain of the chart")
+
+        ode_solver_methods = ["rk2", "rk4", "rkf45", "rkck", "rk8pd",
+                              "rk2imp", "rk4imp", "gear1", "gear2", "bsimp"]
+
+        if method == 'rk4_maxima':
+            des = self._velocities + eqns_num
+            dvars = list(chart[:]) + self._velocities
+            ics = [t_min] + initial_pt_coords + initial_tgt_vec_comps
+
+            sol = desolve_system_rk4(des, dvars,
+                                     ivar=self._curve_parameter,
+                                     ics=ics,
+                                     end_points=[t_min, t_max],
+                                     step=step)
+
+            # The value of 'step' being set by the user when calling
+            # method 'solve', the value of (t_max - tmin)/step is not
+            # necessarily an integer.
+            # As a result, when the solver 'desolve_system_rk4' reaches
+            # a curve parameter that is distant to 't_max' by less than
+            # 'step', it computes one last point evaluated for a curve
+            # parameter exactly equal to 't_max'.
+            # Therefore, the difference between the curve parameter
+            # corresponding to this last point and that corresponding
+            # to the previous one is strictly less than 'step'. If this
+            # difference is too small (that is, if the solver considered
+            # that it did not reach 't_max', and hence computed one more
+            # point, although it was already very close to 't_max'),
+            # problems arise when using an interpolation of this
+            # solution (such as getting points with coordinates 'nan').
+            # As a result, we choose to remove the last point of a
+            # solution when it is a point that was added by the solver
+            # and threatens to be too close to the previous one
+            # (arbitrarily, we consider two points to be too close if
+            # their curve parameters are separated by less than 90% of a
+            # step).
+            if len(sol) > 1 and abs(sol[-1][0] - sol[-2][0]) < 0.9 * step:
+                del sol[-1]
+
+        elif method in ["odeint", "ode_int"]:
+            # "ode_int" is here only for backward compatibility
+            des = [fast_callable(eq, vars=tuple(list(self._chart[:])
+                                                + self._velocities
+                                                + [self._curve_parameter]),
+                                 domain=float)
+                   for eq in (self._velocities + eqns_num)]
+            ics = initial_pt_coords + initial_tgt_vec_comps
+            times = srange(t_min, t_max, step, include_endpoint=True)
+            dvars = list(chart[:]) + self._velocities
+            # Setting 1.e-10 as default value for the error control
+            # parameters rtol and atol:
+            if 'rtol' not in control_param:
+                control_param['rtol'] = 1.e-10
+            if 'atol' not in control_param:
+                control_param['atol'] = 1.e-10
+            sol0 = desolve_odeint(des, ics, times, dvars,
+                                  ivar=self._curve_parameter, **control_param)
+
+            # rewrite the solution to prepare for the extraction (which
+            # removes information about the velocities), and convert
+            # elements of type 'numpy.float64' to standard type 'float'
+
+            import numpy as np
+            sol = np.column_stack((times, sol0)) # tolist() done later
+
+        elif method in ["dopri5", "dop853"]:
+            import numpy as np
+            des = [fast_callable(eq, vars=tuple(list(self._chart[:])
+                                                + self._velocities), domain=float)
+                   for eq in (self._velocities + eqns_num)]
+            ics = initial_pt_coords + initial_tgt_vec_comps
+            times = np.linspace(t_min, t_max, int((t_max-t_min)/step) + 1,
+                                endpoint=True)
+            # ode accepts a function returning a list, and not a list of functions
+            r = ode(lambda t, y: [de(*y) for de in des]).set_integrator(method,
+                                                               **control_param)
+            r.set_initial_value(ics, t_min)
+            r.set_solout(lambda t, y: 0 if chart.valid_coordinates_numerical(*y[0:dim])
+                                      else -1)
+
+            nt = len(times)
+            sol0 = np.zeros((nt, 2*dim))
+            sol0[0,:] = np.array(ics)
+            for i in range(1, nt):
+                sol0[i,:] = r.integrate(times[i])
+                if not r.successful():
+                    break
+            sol = np.column_stack((times, sol0)) # tolist() done later
+
+        elif method in ode_solver_methods:
+            T = self._ode_solver
+
+            if T is None:
+                def system(t, y):
+                    syst = self._velocities + eqns_num
+                    par = self._curve_parameter
+                    for i in range(dim):
+                        vel = self._velocities[i]
+                        syst[i] = syst[i].substitute({vel:y[dim+i]})
+                        syst[dim+i] = syst[dim+i].substitute({par:t})
+                        for j in range(dim):
+                            coord = chart[:][j] # important to use '[:]'
+                            # on 'chart' to avoid problems due to non
+                            # zero starting index (i0)
+                            veloc = self._velocities[j]
+                            syst[dim+i] = syst[dim+i].substitute({coord:y[j]})
+                            syst[dim+i] = syst[dim+i].substitute({veloc:y[dim+j]})
+                    return syst
+                from sage.calculus.ode import ode_solver
+                T = ode_solver(function=system, **control_param)
+
+            T.algorithm = method
+            y_0 = initial_pt_coords + initial_tgt_vec_comps
+            t_span = srange(t_min, t_max, step, include_endpoint=True)
+
+            if method == "bsimp":
+                # this method requires the expression of the Jacobian
+                # matrix of the application defining the right-hand side
+                # of the system to be provided
+
+                if T.jacobian is None:
+                    def jacobian(t, y):
+                        jac = []
+                        par = self._curve_parameter
+                        for i in range(dim):
+                            new_row = [0] * (2*dim)
+                            new_row[dim + i] = 1
+                            jac += [new_row]
+
+                        for i in range(dim):
+                            semi_row_coords = []
+                            semi_row_vels = []
+                            for j in range(dim):
+                                coord = chart[:][j] # important to use
+                                # '[:]' on 'chart' to avoid problems due
+                                # to nonzero starting index (i0)
+                                vel = self._velocities[j]
+                                AUX = eqns_num[i].derivative(coord)
+                                AUX2 = eqns_num[i].derivative(vel)
+                                AUX = AUX.substitute({par: t})
+                                AUX2 = AUX2.substitute({par: t})
+                                for k in range(dim):
+                                    coordin = chart[:][k] # important to
+                                    # use '[:]' on 'chart' to avoid
+                                    # problems due to nonzero starting
+                                    # index (i0)
+                                    veloc = self._velocities[k]
+                                    AUX = AUX.substitute({coordin: y[k]})
+                                    AUX = AUX.substitute({veloc: y[dim+k]})
+                                    AUX2 = AUX2.substitute({coordin: y[k]})
+                                    AUX2 = AUX2.substitute({veloc: y[dim+k]})
+                                semi_row_coords += [AUX]
+                                semi_row_vels += [AUX2]
+                            jac += [semi_row_coords + semi_row_vels]
+
+                        last_semi_row_coords = [0] * dim
+                        last_semi_row_vels = []
+                        for j in range(dim):
+                            AUX3 = eqns_num[j].derivative(par)
+                            AUX3 = AUX3.substitute({par: t})
+                            for m in range(dim):
+                                coordin = chart[:][m] # important to use
+                                # '[:]' on 'chart' to avoid problems due
+                                # to nonzero starting index (i0)
+                                veloc = self._velocities[m]
+                                AUX3 = AUX3.substitute({coordin: y[m]})
+                                AUX3 = AUX3.substitute({veloc: y[dim+m]})
+                            last_semi_row_vels += [AUX3]
+                        jac += [last_semi_row_coords + last_semi_row_vels]
+                        # 'AUX', 'AUX2' and 'AUX3' only used for the lines
+                        # of source code to be shorter
+                        return jac
+                    T.jacobian = jacobian
+
+            T.ode_solve(y_0=y_0, t_span=t_span)
+
+            sol0 = T.solution
+            sol = []
+            for point in sol0:
+                sol += [[point[0]] + point[1]]
+            # above loop rewrites the solution in the same form than
+            # that provided by other methods ('rk4_maxima' and
+            # 'odeint'), in order to extract the time and corresponding
+            # coordinate values a few lines below, in the same way for
+            # all methods
+
+        else:
+            raise ValueError("no available method of integration " +
+                             "referred to as '{}'".format(method))
+
+        # eventually, extract the time and corresponding coordinate
+        # values from each point of the solution computed (thus removing
+        # information about the values of the velocities ; should the
+        # latter be conserved ? They could turn useful in method
+        # 'tangent_vector_eval_at', and in 'plot' when plotting the
+        # tangent vectors.)
+
+        if isinstance(sol, list):
+            coords_sol = [point[0:dim + 1] for point in sol]
+        else:
+            coords_sol = sol[:, 0:dim + 1].tolist() # far faster in numpy
+
+        if verbose:
+            print("Numerical integration completed.\n\n" +
+                  "Checking all points are in the chart domain...")
+
+        N = len(coords_sol)
+        n = 0
+        while n < N and chart.valid_coordinates_numerical(*coords_sol[n][1:dim+1]):
+            n += 1
+
+        if n < N:
+            raise ValueError("the {}th point ".format(n) +
+                             "(initial point being the '0th' point) " +
+                             "of the numerical solution (obtained " +
+                             "for a curve parameter equal " +
+                             "to {}) is out ".format(sol[n][0]) +
+                             "of the chart domain; a curve with a " +
+                             "smaller maximal value of the curve " +
+                             "parameter, or a smaller initial tangent " +
+                             "vector, might be considered. You can also try " +
+                             "'solve_across_charts' in order not to be " +
+                             "confined to a single chart")
+        else:
+            self._solutions[solution_key] = coords_sol
+            if verbose:
+                print("All points are in the chart domain.\n\n" +
+                      "The resulting list of points was associated " +
+                      "with the key '{}' ".format(solution_key) +
+                      "(if this key already referred to a former " +
+                      "numerical solution, such a solution was erased).")
+            return self._solutions[solution_key]
+
+    def solve_across_charts(self, charts=None, step=None, solution_key=None,
+                            parameters_values=None, verbose=False,
+                            **control_param):
+        r"""
+        Integrate the curve numerically over the domain of integration, with
+        the ability to switch chart mid-integration.
+
+        The only supported solver is :obj:`scipy:scipy.integrate.ode`,
+        because it supports basic event handling, needed to detect when the
+        curve is reaching the frontier of the chart. This is an adaptive step
+        solver. So the ``step`` is not the step of integration but instead the
+        step used to peak at the current chart, and switch if needed.
+
+        INPUT:
+
+        - ``step`` -- (default: ``None``) step of chart checking; default
+          value is a hundredth of the domain of integration if none is
+          provided. If your curve can't find a new frame on exiting the
+          current frame, consider reducing this parameter.
+        - ``charts`` -- (default: ``None``) list of chart allowed. The
+          integration stops once it leaves those charts. By default the whole
+          atlas is taken (only the top-charts).
+        - ``solution_key`` -- (default: ``None``) key which the
+          resulting numerical solution will be associated to; a default
+          value is given if none is provided
+        - ``parameters_values`` -- (default: ``None``) list of numerical
+          values of the parameters present in the system defining the
+          curve, to be substituted in the equations before integration
+        - ``verbose`` -- boolean (default: ``False``); prints information about
+          the computation in progress
+        - ``**control_param`` -- extra control parameters to be passed to the
+          solver
+
+        OUTPUT: list of the numerical points of the computed solution
+
+        EXAMPLES:
+
+        Let us use :meth:`solve_across_charts` to integrate a geodesic of the
+        Euclidean plane (a straight line) in polar coordinates.
+
+        In pure polar coordinates `(r, \theta)`, artefacts can appear near
+        the origin because of the fast variation of `\theta`, resulting in
+        the direction of the geodesic being different before and after
+        getting close to the origin.
+
+        The solution to this problem is to switch to Cartesian coordinates
+        near `(0,0)` to avoid any singularity.
+
+        First let's declare the plane as a 2-dimensional manifold, with two
+        charts `P` en `C` (for "Polar" and "Cartesian") and their transition
+        maps::
+
+            sage: M = Manifold(2, 'M', structure='Riemannian')
+            sage: C.<x,y> = M.chart(coord_restrictions=lambda x,y: x**2+y**2 < 3**2)
+            sage: P.<r,th> = M.chart(coord_restrictions=lambda r, th: r > 2)
+            sage: P_to_C = P.transition_map(C,(r*cos(th), r*sin(th)))
+            sage: C_to_P = C.transition_map(P,(sqrt(x**2+y**2), atan2(y,x)))
+
+        Here we added restrictions on those charts, to avoid any
+        singularity.  The intersection is the donut region `2 < r < 3`.
+
+        We still have to define the metric. This is done in the Cartesian
+        frame. The metric in the polar frame is computed automatically::
+
+            sage: g = M.metric()
+            sage: g[0,0,C]=1
+            sage: g[1,1,C]=1
+            sage: g[P.frame(), : ,P]
+            [  1   0]
+            [  0 r^2]
+
+        To visualize our manifold, let's declare a mapping between every chart
+        and the Cartesian chart, and then plot each chart in term of this
+        mapping::
+
+            sage: phi = M.diff_map(M, {(C,C): [x, y], (P,C): [r*cos(th), r*sin(th)]})
+            sage: fig = P.plot(number_values=9, chart=C, mapping=phi,                   # needs sage.plot
+            ....:              color='grey', ranges= {r:(2, 6), th:(0,2*pi)})
+            sage: fig += C.plot(number_values=13, chart=C, mapping=phi,                 # needs sage.plot
+            ....:               color='grey', ranges= {x:(-3, 3), y:(-3, 3)})
+
+        There is a clear non-empty intersection between the two
+        charts. This is the key point to successfully switch chart during the
+        integration. Indeed, at least 2 points must fall in the intersection.
+
+        .. RUBRIC:: Geodesic integration
+
+        Let's define the time as `t`, the initial point as `p`, and the
+        initial velocity vector as `v` (define as a member of the tangent
+        space `T_p`). The chosen geodesic should enter the central region
+        from the left and leave it to the right::
+
+            sage: t = var('t')
+            sage: p = M((5,pi+0.3), P)
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((-1,-0.03), P.frame().at(p))
+
+        While creating the integrated geodesic, we need to specify the
+        optional argument ``across_chart=True``, to prepare the compiled
+        version of the changes of charts::
+
+            sage: c = M.integrated_geodesic(g, (t, 0, 10), v, across_charts=True)
+
+        The integration is done as usual, but using the method
+        :meth:`solve_across_charts` instead of :meth:`solve`. This forces the
+        use of :obj:`scipy:scipy.integrate.ode` as the solver, because of event
+        handling support.
+
+        The argument ``verbose=True`` will cause the solver to write a small
+        message each time it is switching chart::
+
+            sage: sol = c.solve_across_charts(step=0.1, verbose=True)                   # needs scipy
+            Performing numerical integration with method 'ode'.
+            Integration will take place on the whole manifold domain.
+            Resulting list of points will be associated with the key 'ode_multichart' by default.
+               ...
+            Exiting chart, trying to switch to another chart.
+            New chart found. Resuming integration.
+            Exiting chart, trying to switch to another chart.
+            New chart found. Resuming integration.
+            Integration successful.
+
+        As expected, two changes of chart occur.
+
+        The returned solution is a list of pairs ``(chart, solution)``,
+        where each solution is given on a unique chart, and the last
+        point of a solution is the first of the next.
+
+        The following code prints the corresponding charts::
+
+            sage: for chart, solution in sol:                                           # needs scipy
+            ....:     print(chart)
+            Chart (M, (r, th))
+            Chart (M, (x, y))
+            Chart (M, (r, th))
+
+        The interpolation is done as usual::
+
+            sage: interp = c.interpolate()                                              # needs scipy
+
+        To plot the result, you must first be sure that the mapping
+        encompasses all the chart, which is the case here.
+        You must also specify ``across_charts=True`` in order to call
+        :meth:`plot_integrated` again on each part.
+        Finally, ``color`` can be a list, which will be cycled through::
+
+            sage: fig += c.plot_integrated(mapping=phi, color=["green","red"],          # needs scipy sage.plot
+            ....: thickness=3, plot_points=100, across_charts=True)
+            sage: fig                                                                   # needs scipy sage.plot
+            Graphics object consisting of 43 graphics primitives
+
+        .. PLOT::
+
+            M = Manifold(2, 'M', structure='Riemannian')
+            C= M.chart(names = ("x", "y"), coord_restrictions=lambda x,y: x**2+y**2 < 3**2)
+            x, y = C[:]
+            P = M.chart(names = ("r", "th"), coord_restrictions=lambda r,th: r > 2)
+            r, th = P[:]
+            P_to_C = P.transition_map(C,(r*cos(th), r*sin(th)))
+            C_to_P = C.transition_map(P,(sqrt(x**2+y**2), atan2(y,x)))
+            g = M.metric()
+            g[0,0,C] = 1
+            g[1,1,C] = 1
+            g[P.frame(), : , P]
+            phi = M.diff_map(M, {(C,C): [x, y], (P,C): [r*cos(th), r*sin(th)]})
+            fig = P.plot(number_values=9, chart=C, mapping=phi, color='grey',
+                         ranges= {r:(2, 6), th:(0,2*pi)})
+            fig += C.plot(number_values=13, chart=C, mapping=phi, color='grey',
+                          ranges= {x:(-3, 3), y:(-3, 3)})
+            t = var('t')
+            p = M((5,pi+0.3), P)
+            Tp = M.tangent_space(p)
+            v = Tp((-1,-0.03), P.frame().at(p))
+            c = M.integrated_geodesic(g, (t, 0, 10), v, across_charts=True)
+            sol = c.solve_across_charts(step=0.1, verbose=True)
+            interp = c.interpolate()
+            fig += c.plot_integrated(mapping=phi, color=["green","red"],
+                        thickness=3, plot_points=100, across_charts=True)
+            sphinx_plot(fig)
+        """
+        import numpy as np
+
+        if verbose:
+            print("Performing numerical integration with method 'ode'.")
+
+        if charts is None:
+            charts = self._codomain.top_charts()
+            if verbose:
+                print("Integration will take place on the whole manifold domain.")
+        else:
+            for c in charts:
+                if not isinstance(c, Chart) or c.domain() is not self._codomain:
+                    raise ValueError("'charts' needs to be a list of "
+                                     "charts of the manifold")
+            print("Integration will take place on {} charts.".format(len(charts)))
+
+        if solution_key is None:
+            solution_key = "ode_multichart"
+            if verbose:
+                print("Resulting list of points will be associated " +
+                      "with the key '{}' ".format(solution_key) +
+                      "by default.")
+                print("   ...")
+
+        t_min = self.domain().lower_bound()
+        t_max = self.domain().upper_bound()
+
+        eqns_num = self._equations_rhs.copy()
+
+        v0 = self._initial_tangent_vector
+
+        initial_tgt_space = v0.parent()
+        initial_pt = initial_tgt_space.base_point()
+
+        # Find a suitable initial chart, ie top chart in which the coordinates
+        # of the initial point are known.
+
+        for ichart in set(initial_pt._coordinates.keys()).intersection(charts):
+
+            initial_chart = ichart
+
+            initial_pt_coords = list(initial_pt.coordinates(initial_chart))
+            initial_coord_basis = initial_chart.frame().at(initial_pt)
+            initial_tgt_vec_comps = list(v0[initial_coord_basis, :])
+
+            if step is None:
+                step = (t_max - t_min) / 100
+
+            dim = self.codomain().dim()
+
+            if self._parameters:
+                if parameters_values is None or len(parameters_values) != len(self._parameters):
+                    raise ValueError("numerical values should be " +
+                                     "provided for each of the " +
+                                     "parameters "
+                                     "{}".format(sorted(self._parameters, key=str)))
+                for key in parameters_values:
+                    parameters_values[key] = numerical_approx(parameters_values[key])
+
+                if isinstance(t_min, Expression):
+                    t_min = parameters_values[t_min]
+                    if t_min == -Infinity or t_min == +Infinity:
+                        raise ValueError("both boundaries of the " +
+                                          "interval need to be finite")
+
+                if isinstance(t_max, Expression):
+                    t_max = parameters_values[t_max]
+                    if t_max == -Infinity or t_max == +Infinity:
+                        raise ValueError("both boundaries of the " +
+                                         "interval need to be finite")
+
+                for i in range(dim):
+                    for chart in eqns_num:
+                        if isinstance(eqns_num[chart][i], Expression):
+                            eqns_num[chart][i] = eqns_num[chart][i].substitute(parameters_values)
+
+                for i in range(dim):
+                    if isinstance(initial_pt_coords[i], Expression):
+                        AUX = initial_pt_coords[i]
+                        AUX = AUX.substitute(parameters_values)
+                        initial_pt_coords[i] = AUX
+                    if isinstance(initial_tgt_vec_comps[i], Expression):
+                        AUX2 = initial_tgt_vec_comps[i]
+                        AUX2 = AUX2.substitute(parameters_values)
+                        initial_tgt_vec_comps[i] = AUX2
+
+            step = numerical_approx(step)
+
+            initial_pt_coords = [numerical_approx(coord) for coord
+                                 in initial_pt_coords]
+            initial_tgt_vec_comps = [numerical_approx(comp) for comp
+                                     in initial_tgt_vec_comps]
+
+            t_min = numerical_approx(t_min)
+            t_max = numerical_approx(t_max)
+
+            if initial_chart.valid_coordinates(*initial_pt_coords):
+                # found acceptable initial chart
+                break
+
+        else:
+            # No initial chart found
+            raise ValueError("initial point should be in the " +
+                             "domain of its chart")
+
+        # Transformation to fast_callable happens here
+        des = {chart: [fast_callable(SR(eq), vars=tuple(
+            list(chart[:]) + chart.symbolic_velocities()), domain=float)
+               for eq in (chart.symbolic_velocities() + eqns_num[chart])]
+               for chart in charts}
+
+        ics = initial_pt_coords + initial_tgt_vec_comps
+        times = np.linspace(t_min, t_max, int((t_max - t_min) / step) + 1,
+                            endpoint=True)
+        nt = len(times)
+
+        sol = []
+
+        chart = initial_chart
+
+        start_index = 0  # current index while entering each new chart
+        sol_chart = np.zeros((nt, 2 * dim))  # current chart solution
+        sol_chart[0, :] = np.array(ics)  # starting with initial condition
+
+        # Current equation to integrate, with initial and stop conditions
+        r = ode(lambda t, y: [de(*y) for de in des[chart]]).set_integrator('dopri5',
+                                                               **control_param)
+        r.set_initial_value(ics, t_min)
+        r.set_solout(lambda t, y: 0 if chart.valid_coordinates_numerical(*y[0:dim]) else -1)
+
+        i = 1
+        tried_charts = set()  # set of charts already searched at this step
+
+        # Integration loop
+        while i < nt:
+
+            current_sol = r.integrate(times[i])
+            if not r.successful():
+                raise RuntimeError("unsuccessful integration")
+
+            # step leads outside of the chart domain
+            if abs(r.t-times[i]) > 1e-8:
+                if verbose:
+                    print("Exiting chart, trying to switch to another chart.")
+
+                # Last known point
+                last_pts = sol_chart[i-2-start_index, :dim]
+                last_vel = sol_chart[i-2-start_index, dim:]
+
+                random_order = list(set(charts).difference(tried_charts))
+                shuffle(random_order)
+                for new_chart in random_order:
+                    tried_charts.add(new_chart)
+                    if new_chart not in chart._subcharts:  # includes new != old
+
+                        inter = chart.domain().intersection(new_chart.domain())
+
+                        # The change of chart is performed here
+                        new_pts = [f(*last_pts) for f in
+                            self._fast_changes_of_chart[(chart.restrict(inter),
+                                        new_chart.restrict(inter))]]
+                        # If this line throws an error, check your changes
+                        # of chart
+
+                        if new_chart.valid_coordinates_numerical(*new_pts):
+                            if verbose:
+                                print("New chart found. Resuming integration.")
+                            if start_index != i - 1:  # len(1) solution are ditched
+                                # col-stack the times
+                                sol_stacked = np.column_stack((times[start_index:i-1],
+                                                sol_chart[:i-start_index-1, :]))
+                                # add it to the global solution
+                                sol.append((chart, sol_stacked))
+
+                            # unfortunately building the tangent space is too
+                            # slow, so we have to cheat a little and apply the
+                            # change of frame manually (with a precompiled
+                            # function)
+
+                            new_vel = self._fast_changes_of_frame[(new_chart.frame().restrict(inter),
+                               chart.frame().restrict(inter))](last_pts, last_vel)
+
+                            ics = new_pts + new_vel
+                            chart = new_chart
+
+                            start_index = i - 1
+                            sol_chart = np.zeros((nt, 2 * dim))
+                            sol_chart[0, :] = np.array(ics)
+
+                            r = ode(lambda t, y: [de(*y) for de in des[chart]])\
+                                .set_integrator('dopri5')
+                            r.set_initial_value(ics, times[i - 1])
+                            r.set_solout(lambda t, y: 0 if chart.
+                                valid_coordinates_numerical(*y[0:dim]) else -1)
+                            i -= 1  # go back in the past to redo failed step
+                            break
+                # every chart was tried
+                else:
+                    if verbose:
+                        print("No chart found, stopping integration.")
+                        # col-stack the times
+                    sol_chart = np.column_stack((times[start_index:i-1],
+                                        sol_chart[:i-start_index-1, :]))
+                    # add it to the global solution
+                    sol.append((chart, sol_chart))
+                    break
+
+            # the integration step was successful
+            else:
+                sol_chart[i-start_index, :] = current_sol  # register the result
+                tried_charts.clear()  # the set is reset.
+
+            i += 1
+
+        else:           # integration finishes successfully
+            if verbose:
+                print("Integration successful.")
+            # col-stack the times
+            sol_chart = np.column_stack((times[start_index:i-1],
+                                         sol_chart[:i-start_index-1, :]))
+            # add it to the global solution
+            sol.append((chart, sol_chart))
+
+        coords_sol = []
+        for chart, chart_sol in sol:
+            coords_sol.append((chart, chart_sol[:, 0:dim + 1])) # remove velocities
+
+        self._solutions[solution_key] = coords_sol
+
+        return self._solutions[solution_key]
+
+    def solution(self, solution_key=None, verbose=False):
+        r"""
+        Return the solution (list of points) associated with the given
+        key.
+
+        INPUT:
+
+        - ``solution_key`` -- (default: ``None``) key which the
+          requested numerical solution is associated to; a default
+          value is chosen if none is provided
+        - ``verbose`` -- boolean (default: ``False``); prints information about
+          the solution returned
+
+        OUTPUT: list of the numerical points of the solution requested
+
+        EXAMPLES:
+
+        Requesting a numerical solution previously computed::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c')
+
+            sage: # needs scipy
+            sage: sol = c.solve(solution_key='sol_T1',
+            ....:        parameters_values={B_0:1, m:1, q:1, L:10, T:1})
+            sage: sol_bis = c.solution(verbose=True)
+            Returning the numerical solution associated with the key
+             'sol_T1' by default...
+            sage: sol_bis == sol
+            True
+            sage: sol_ter = c.solution(solution_key='sol_T1')
+            sage: sol_ter == sol
+            True
+            sage: sol_mute = c.solution()
+            sage: sol_mute == sol
+            True
+        """
+        if solution_key is None:
+            if 'odeint' in self._solutions:
+                solution_key = 'odeint'
+            else:
+                solution_key = next(iter(self._solutions))
+                # will raise an error if self._solutions is empty
+            if verbose:
+                print("Returning the numerical solution associated " +
+                      "with the key '{}' ".format(solution_key) +
+                      "by default...")
+        elif solution_key not in self._solutions:
+            raise ValueError("no existing key " +
+                             "'{}' ".format(solution_key) +
+                             "referring to any numerical solution")
+
+        return self._solutions[solution_key]
+
+    def interpolate(self, solution_key=None, method=None,
+                    interpolation_key=None, verbose=False):
+        r"""
+        Interpolate the chosen numerical solution using the given
+        interpolation method.
+
+        INPUT:
+
+        - ``solution_key`` -- (default: ``None``) key which the
+          numerical solution to interpolate is associated to ; a default
+          value is chosen if none is provided
+        - ``method`` -- (default: ``None``) interpolation scheme to use;
+          algorithms available are
+
+          * ``'cubic spline'``, which makes use of ``GSL`` via
+            :class:`~sage.calculus.interpolation.Spline`
+
+        - ``interpolation_key`` -- (default: ``None``) key which the
+          resulting interpolation will be associated to ; a default
+          value is given if none is provided
+        - ``verbose`` -- boolean (default: ``False``); prints information about
+          the interpolation in progress
+
+        OUTPUT: built interpolation object
+
+        EXAMPLES:
+
+        Interpolating a numerical solution previously computed::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c')
+
+            sage: # needs scipy
+            sage: sol = c.solve(method='odeint',
+            ....:        solution_key='sol_T1',
+            ....:        parameters_values={B_0:1, m:1, q:1, L:10, T:1})
+            sage: interp = c.interpolate(method='cubic spline',
+            ....:                        solution_key='sol_T1',
+            ....:                        interpolation_key='interp_T1',
+            ....:                        verbose=True)
+            Interpolation completed and associated with the key
+             'interp_T1' (if this key already referred to a former
+             interpolation, such an interpolation was erased).
+            sage: interp = c.interpolate(verbose=True)
+            Interpolating the numerical solution associated with the
+             key 'sol_T1' by default...
+            Performing cubic spline interpolation by default...
+            Resulting interpolation will be associated with the key
+             'cubic spline-interp-sol_T1' by default.
+            Interpolation completed and associated with the key
+             'cubic spline-interp-sol_T1' (if this key already referred
+             to a former interpolation, such an interpolation was
+             erased).
+
+        TESTS::
+
+            sage: interp = c.interpolate(solution_key='my solution')
+            Traceback (most recent call last):
+            ...
+            ValueError: no existing key 'my solution' referring to any
+             numerical solution
+            sage: interp = c.interpolate(solution_key='sol_T1',                         # needs scipy
+            ....:                        method='my method')
+            Traceback (most recent call last):
+            ...
+            ValueError: no available method of interpolation referred to
+             as 'my method'
+        """
+        if solution_key is None:
+            if 'odeint' in self._solutions:
+                solution_key = 'odeint'
+            else:
+                solution_key = next(iter(self._solutions)) # will raise
+                # error if self._solutions empty
+            if verbose:
+                print("Interpolating the numerical solution " +
+                      "associated with the key " +
+                      "'{}' ".format(solution_key) +
+                      "by default...")
+        elif solution_key not in self._solutions:
+            raise ValueError("no existing key " +
+                             "'{}' ".format(solution_key) +
+                             "referring to any numerical solution")
+
+        if method is None:
+            method = 'cubic spline'
+            if verbose:
+                print("Performing cubic spline interpolation by "
+                      "default...")
+
+        if interpolation_key is None:
+            interpolation_key = "{}-interp-".format(method)
+            interpolation_key += "{}".format(solution_key)
+            if verbose:
+                print("Resulting interpolation will be associated " +
+                      "with the key '{}' ".format(interpolation_key) +
+                      "by default.")
+
+        if method == 'cubic spline':
+            self._interpolations[interpolation_key] = []
+            dim = self.codomain().dim()
+            if not isinstance(self._solutions[solution_key][0], tuple):
+                for i in range(dim):
+                    coordinate_curve = []
+                    for point in self._solutions[solution_key]:
+                        coordinate_curve += [[point[0], point[i+1]]]
+                    self._interpolations[interpolation_key] += [Spline(coordinate_curve)]
+            else:   # case multi charts
+                j = 0
+                for chart, sol in self._solutions[solution_key]:
+                    interp_chart = []
+                    for i in range(dim):
+                        coordinate_curve = []
+                        for point in sol:
+                            coordinate_curve += [[point[0], point[i + 1]]]
+                        interp_chart += [Spline(coordinate_curve)]
+                    self._interpolations[interpolation_key] += [(chart, interp_chart)]
+                    self._interpolations[interpolation_key+"_chart_"+str(j)] = interp_chart
+                    j += 1
+        else:
+            raise ValueError("no available method of interpolation " +
+                             "referred to as '{}'".format(method))
+
+        if verbose:
+            print("Interpolation completed and associated with the " +
+                  "key '{}' ".format(interpolation_key) +
+                  "(if this key already referred to a former " +
+                  "interpolation, such an interpolation was erased).")
+
+        return self._interpolations[interpolation_key]
+
+    def interpolation(self, interpolation_key=None, verbose=False):
+        r"""
+        Return the interpolation object associated with the given key.
+
+        INPUT:
+
+        - ``interpolation_key`` -- (default: ``None``) key which the
+          requested interpolation is associated to; a default
+          value is chosen if none is provided
+        - ``verbose`` -- boolean (default: ``False``); prints information about
+          the interpolation object returned
+
+        OUTPUT: requested interpolation object
+
+        EXAMPLES:
+
+        Requesting an interpolation object previously computed::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c')
+
+            sage: # needs scipy
+            sage: sol = c.solve(method='odeint',
+            ....:        solution_key='sol_T1',
+            ....:        parameters_values={B_0:1, m:1, q:1, L:10, T:1})
+            sage: interp = c.interpolate(method='cubic spline',
+            ....:                         solution_key='sol_T1',
+            ....:                         interpolation_key='interp_T1')
+            sage: default_interp = c.interpolation(verbose=True)
+            Returning the interpolation associated with the key
+             'interp_T1' by default...
+            sage: default_interp == interp
+            True
+            sage: interp_mute = c.interpolation()
+            sage: interp_mute == interp
+            True
+
+        TESTS::
+
+            sage: c.interpolation(interpolation_key='my interp')
+            Traceback (most recent call last):
+            ...
+            ValueError: no existing key 'my interp' referring to any
+             interpolation
+        """
+
+        if interpolation_key is None:
+            if 'cubic spline' in self._interpolations:
+                interpolation_key = 'cubic spline'
+            else:
+                interpolation_key = next(iter(self._interpolations))  # will
+                # raise error if self._interpolations empty
+            if verbose:
+                print("Returning the interpolation associated with " +
+                      "the key '{}' ".format(interpolation_key) +
+                      "by default...")
+        elif interpolation_key not in self._interpolations:
+            raise ValueError("no existing key " +
+                             "'{}' ".format(interpolation_key) +
+                             "referring to any interpolation")
+
+        return self._interpolations[interpolation_key]
+
+    def __call__(self, t, interpolation_key=None,
+                 verbose=False):
+        r"""
+        Return the image of the curve for the given value of the curve
+        parameter, using the chosen interpolation.
+
+        INPUT:
+
+        - ``t`` -- curve parameter value at which the curve is evaluated
+        - ``interpolation_key`` -- (default: ``None``) key which the
+          interpolation requested to compute the point is associated to;
+          a default value is chosen if none is provided
+        - ``verbose`` -- boolean (default: ``False``); prints information about
+          the interpolation used
+
+        OUTPUT:
+
+        - :class:`~sage.manifolds.point.ManifoldPoint` on a
+          manifold (codomain) with numerical coordinates
+
+        TESTS::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c')
+
+            sage: # needs scipy
+            sage: sol = c.solve(method='odeint',
+            ....:        solution_key='sol_T1',
+            ....:        parameters_values={B_0:1, m:1, q:1, L:10, T:1})
+            sage: interp = c.interpolate(method='cubic spline',
+            ....:                         solution_key='sol_T1',
+            ....:                         interpolation_key='interp_T1')
+            sage: c(1.1, interpolation_key='my interp')
+            Traceback (most recent call last):
+            ...
+            ValueError: no existing key 'my interp' referring to any
+             interpolation
+            sage: p = c(1.1, verbose=True)
+            Evaluating point coordinates from the interpolation
+             associated with the key 'interp_T1' by default...
+            sage: p.coordinates()     # abs tol 1e-12
+            (1.060743337877276, -0.21538352256822146, 1.1)
+        """
+
+        if interpolation_key is None:
+            if 'cubic spline' in self._interpolations:
+                interpolation_key = 'cubic spline'
+            else:
+                # will raise error if self._interpolations empty
+                interpolation_key = next(iter(self._interpolations))
+            if verbose:
+                print("Evaluating point coordinates from the " +
+                  "interpolation associated with the key " +
+                  "'{}' by default...".format(interpolation_key))
+        elif interpolation_key not in self._interpolations:
+            raise ValueError("no existing key " +
+                             "'{}' ".format(interpolation_key) +
+                             "referring to any interpolation")
+
+        interpolation = self._interpolations[interpolation_key]
+
+        if not isinstance(interpolation[0], Spline):
+            # partial test, in case future interpolation objects do not
+            # contain lists of instances of the Spline class
+            raise TypeError("unexpected type of interpolation object")
+
+        interpolated_coordinates = [coord_curve_spline(t)
+                                    for coord_curve_spline in interpolation]
+        return self.codomain().point(coords=interpolated_coordinates,
+                                                  chart=self._chart)
+
+    def tangent_vector_eval_at(self, t,
+                               interpolation_key=None, verbose=False):
+        r"""
+        Return the vector tangent to ``self`` at the given curve
+        parameter with components evaluated from the given
+        interpolation.
+
+        INPUT:
+
+        - ``t`` -- curve parameter value at which the tangent vector is
+          evaluated
+        - ``interpolation_key`` -- (default: ``None``) key which the
+          interpolation requested to compute the tangent vector is
+          associated to; a default value is chosen if none is provided
+        - ``verbose`` -- boolean (default: ``False``); prints information about
+          the interpolation used
+
+        OUTPUT:
+
+        - :class:`~sage.manifolds.differentiable.tangent_vector.TangentVector`
+          tangent vector with numerical components
+
+        EXAMPLES:
+
+        Evaluating a vector tangent to the curve::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, B_0, m, q, L, T] = var('t B_0 m q L T')
+            sage: B = B_0*t/T*exp(-(x1^2 + x2^2)/L^2)
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [q*B/m*D[1], -q*B/m*D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,5), v, name='c')
+
+            sage: # needs scipy
+            sage: sol = c.solve(method='odeint',
+            ....:        solution_key='sol_T1',
+            ....:        parameters_values={B_0:1, m:1, q:1, L:10, T:1})
+            sage: interp = c.interpolate(method='cubic spline',
+            ....:                         solution_key='sol_T1',
+            ....:                         interpolation_key='interp_T1')
+            sage: tg_vec = c.tangent_vector_eval_at(1.22, verbose=True)
+            Evaluating tangent vector components from the interpolation
+             associated with the key 'interp_T1' by default...
+            sage: tg_vec
+            Tangent vector at Point on the 3-dimensional differentiable
+             manifold M
+            sage: tg_vec[:]     # abs tol 1e-12
+            [0.7392640422917979, -0.6734182509826023, 1.0]
+            sage: tg_vec_mute = c.tangent_vector_eval_at(1.22,
+            ....:                         interpolation_key='interp_T1')
+            sage: tg_vec_mute == tg_vec
+            True
+
+        TESTS::
+
+            sage: tg_vec = c.tangent_vector_eval_at(1.22,
+            ....:                         interpolation_key='my interp')
+            Traceback (most recent call last):
+            ...
+            ValueError: no existing key 'my interp' referring to any
+             interpolation
+        """
+        if interpolation_key is None:
+            if 'cubic spline' in self._interpolations:
+                interpolation_key = 'cubic spline'
+            else:
+                # will raise error if self._interpolations empty
+                interpolation_key = next(iter(self._interpolations))
+            if verbose:
+                print("Evaluating tangent vector components from the " +
+                      "interpolation associated with the key " +
+                      "'{}' by default...".format(interpolation_key))
+        elif interpolation_key not in self._interpolations:
+            raise ValueError("no existing key " +
+                             "'{}' ".format(interpolation_key) +
+                             "referring to any interpolation")
+
+        interpolation = self._interpolations[interpolation_key]
+
+        if not isinstance(interpolation[0], Spline):
+            # partial test, in case future interpolation objects do not
+            # contain lists of instances of the Spline class
+            raise TypeError("unexpected type of interpolation object")
+
+        interpolated_coordinates = [coordinate_curve_spline(t)
+                       for coordinate_curve_spline in interpolation]
+        M = self.codomain()
+        p = M.point(interpolated_coordinates, chart=self._chart, name=None)
+        Tp = M.tangent_space(p)
+
+        # by default, order=1 in method 'derivative' of a class Spline
+        evaluated_tgt_vec_comp = [coord_curve_spline.derivative(t)
+                                  for coord_curve_spline in interpolation]
+        basis = self._chart.frame().at(p)
+        return Tp(evaluated_tgt_vec_comp, basis=basis)
+
+    @options(thickness=1, plot_points=75, aspect_ratio='automatic',
+             plot_points_tangent=10, width_tangent=1, scale=1)
+    def plot_integrated(self, chart=None, ambient_coords=None,
+             mapping=None, prange=None, interpolation_key=None,
+             include_end_point=(True, True),
+             end_point_offset=(0.001, 0.001), verbose=False, color='red',
+             style='-', label_axes=True, display_tangent=False,
+             color_tangent='blue', across_charts=False, **kwds):
+        r"""
+        Plot the 2D or 3D projection of ``self`` onto the space of the
+        chosen two or three ambient coordinates, based on the
+        interpolation of a numerical solution previously computed.
+
+        .. SEEALSO::
+
+            :class:`~sage.manifolds.differentiable.curve.DifferentiableCurve.plot`
+            for complete information about the input.
+
+        ADDITIONAL INPUT:
+
+        - ``interpolation_key`` -- (default: ``None``) key associated to
+          the interpolation object used for the plot; a default value
+          is chosen if none is provided
+        - ``verbose`` -- boolean (default: ``False``); prints information about
+          the interpolation object used and the plotting in progress
+        - ``display_tangent`` -- boolean (default: ``False``); determines whether
+          some tangent vectors should also be plotted
+        - ``color_tangent`` -- (default: ``blue``) color of the tangent
+          vectors when these are plotted
+        - ``plot_points_tangent`` -- (default: 10) number of tangent
+          vectors to display when these are plotted
+        - ``width_tangent`` -- (default: 1) sets the width of the arrows
+          representing the tangent vectors
+        - ``scale`` -- (default: 1) scale applied to the tangent vectors
+          before displaying them
+
+        EXAMPLES:
+
+        Trajectory of a particle of unit mass and unit charge in an
+        unit, axial, uniform, stationary magnetic field::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: var('t')
+            t
+            sage: D = X.symbolic_velocities()
+            sage: eqns = [D[1], -D[0], 0]
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_curve(eqns, D, (t,0,6), v, name='c')
+
+            sage: # needs scipy
+            sage: sol = c.solve()
+            sage: interp = c.interpolate()
+            sage: c_plot_2d = c.plot_integrated(ambient_coords=[x1, x2],
+            ....:                 thickness=2.5,
+            ....:                 display_tangent=True, plot_points=200,
+            ....:                 plot_points_tangent=10, scale=0.5,
+            ....:                 color='blue', color_tangent='red',
+            ....:                 verbose=True)
+            Plotting from the interpolation associated with the key
+             'cubic spline-interp-odeint' by default...
+            A tiny final offset equal to 0.000301507537688442 was
+             introduced for the last point in order to safely compute it
+             from the interpolation.
+            sage: c_plot_2d
+            Graphics object consisting of 11 graphics primitives
+
+        .. PLOT::
+
+            M = Manifold(3, 'M')
+            X = M.chart('x1 x2 x3'); x1, x2, x3 = X[:]
+            D = X.symbolic_velocities()
+            eqns = [D[1], -D[0], 0]
+            p = M.point((0,0,0), name='p')
+            Tp = M.tangent_space(p)
+            v = Tp((1,0,1))
+            t = var('t')
+            c = M.integrated_curve(eqns, D, (t, 0, 6), v, name='c')
+            sol = c.solve()
+            interp = c.interpolate()
+            c_plot_2d_1 = c.plot_integrated(ambient_coords=[x1, x2],
+                            thickness=2.5,
+                            display_tangent=True, plot_points=200,
+                            plot_points_tangent=10, scale=0.5,
+                            color='blue', color_tangent='red')
+            sphinx_plot(c_plot_2d_1)
+        """
+        from sage.manifolds.chart import RealChart
+
+        #
+        # Get the @options plot_points from kwds
+        #
+        plot_points = kwds.pop('plot_points')
+
+        #
+        # Interpolation to use
+        #
+        if interpolation_key is None:
+            if 'cubic spline' in self._interpolations:
+                interpolation_key = 'cubic spline'
+            else:
+                if across_charts:
+                    for key in self._interpolations:
+                        if key[-8:-1] != '_chart_':  # check if not a subplot
+                            interpolation_key = key
+                            break
+                    else:
+                        raise ValueError("Did you forget to "
+                                         "integrate or interpolate the result?")
+                else:
+                    interpolation_key = next(iter(self._interpolations))
+                    # will raise error if self._interpolations empty
+
+            if verbose:
+                print("Plotting from the interpolation associated " +
+                      "with the key '{}' ".format(interpolation_key) +
+                      "by default...")
+        elif interpolation_key not in self._interpolations:
+            raise ValueError("no existing key '{}' ".format(interpolation_key)
+                             + "referring to any interpolation")
+
+        interpolation = self._interpolations[interpolation_key]
+
+        if across_charts:
+            len_tot = sum(len(interp[1][0]) for interp in interpolation)
+            if isinstance(color, list):
+                color = color * (len(interpolation) // 3 + 1)
+            else:
+                color = color * len(interpolation)
+            res = 0
+            for i in range(len(interpolation)):
+                nb_pts = int(float(plot_points)*len(interpolation[i][1][0])/len_tot)
+                self._chart = interpolation[i][0]
+                res += self.plot_integrated(chart=chart, ambient_coords=ambient_coords,
+                                            mapping=mapping, prange=prange,
+                                            interpolation_key=interpolation_key+"_chart_"+str(i),
+                                            include_end_point=include_end_point,
+                                            end_point_offset=end_point_offset,
+                                            verbose=verbose, color=color[i],
+                                            style=style, label_axes=False,
+                                            display_tangent=display_tangent,
+                                            color_tangent=color_tangent,
+                                            across_charts=False,
+                                            plot_points=nb_pts, **kwds)
+
+            return res
+
+        #
+        # Get the remaining @options from kwds
+        #
+        thickness = kwds.pop('thickness')
+        aspect_ratio = kwds.pop('aspect_ratio')
+
+        #
+        # The mapping, if present, and the chart with respect to which the curve
+        # is plotted
+        #
+        if mapping is None:
+            i0 = self.codomain().start_index()
+            if chart is None:
+                chart = self._chart
+            else:
+                if not isinstance(chart, RealChart):
+                    raise TypeError("{} is not a real chart".format(chart))
+                mapping = self.codomain().identity_map()
+        else:
+            i0 = mapping.codomain().start_index()
+            if chart is None:
+                chart = mapping.codomain().default_chart()
+            elif not isinstance(chart, RealChart):
+                raise TypeError("{} is not a real chart".format(chart))
+
+        #
+        # Coordinates of the above chart with respect to which the curve is
+        # plotted
+        #
+        if ambient_coords is None:
+            ambient_coords = chart[:]  # all chart coordinates are used
+        n_pc = len(ambient_coords)
+        if n_pc != 2 and n_pc != 3:
+            raise ValueError("the number of coordinates involved in " +
+                             "the plot must be either 2 or 3, " +
+                             "not {}".format(n_pc))
+
+        # From now on, 'pc' will denote coordinates in terms of which
+        # the curve is plotted (i.e. the "ambient coordinates"), while
+        # 'coord' will denote coordinates on self.domain(); of course,
+        # when, for instance, the mapping is the identity map, these may
+        # be the same.
+
+        # indices of plot coordinates
+        # will raise an error if ambient_coords are not associated with chart
+        ind_pc = [chart[:].index(pc) + i0 for pc in ambient_coords]
+
+        #
+        # Maximal parameter range for the plot of the chosen
+        # interpolation
+        #
+        # these two lines are the only general way to get the maximal
+        # parameter range since, at this point, there is no clue about
+        # the solution from which 'interpolation' was build, and it would
+        # be an obvious error to declare param_min=self.domain().lower_bound()
+        # for instance, since this might be an expression
+        param_min = interpolation[0][0][0]
+        param_max = interpolation[0][-1][0]
+
+        if prange is None:
+            prange = (param_min, param_max)
+        elif not isinstance(prange, (tuple, list)):
+            raise TypeError("{} is neither ".format(prange) +
+                            "a tuple nor a list")
+        elif len(prange) != 2:
+            raise ValueError("the argument prange must be a " +
+                             "tuple/list of 2 elements")
+        else:
+            p = prange  # 'p' declared only for the line below to be shorter
+            if p[0] < param_min or p[0] > param_max or p[1] < param_min or p[1] > param_max:
+                raise ValueError("parameter range should be a " +
+                                 "subinterval of the curve domain " +
+                                 "({})".format(self.domain()))
+
+        tmin = numerical_approx(prange[0])
+        tmax = numerical_approx(prange[1])
+
+        if not include_end_point[0]:
+            tmin += numerical_approx(end_point_offset[0])
+
+        if not include_end_point[1]:
+            tmax -= numerical_approx(end_point_offset[1])
+
+        if mapping is None:
+            if not isinstance(interpolation[0], Spline):
+                # partial test in case future interpolation objects do not
+                # contain lists of instances of the Spline class
+                raise TypeError("unexpected type of interpolation object")
+
+            #
+            # List of points for the plot curve
+            #
+            plot_curve = []
+            dt = (tmax - tmin) / (plot_points - 1)
+            t = tmin
+
+            for k in range(plot_points):
+                if k == 0 and t < param_min:
+                    # This might happen for the first point (i.e. k = 0)
+                    # when prange[0], and hence tmin, should equal param_min;
+                    # but mere numerical rounding coming from having taken
+                    # tmin = numerical_approx(prange[0]) might
+                    # raise errors from trying to evaluate the
+                    # interpolation at a time smaller than
+                    # self.domain.lower_bound(). Hence the line below
+                    # that adds 1% of the step to compute even more
+                    # safely the first point
+                    t = param_min + 0.01*dt
+                    if verbose:
+                        print("A tiny initial offset equal to " +
+                              "{} ".format(0.01*dt) +
+                              "was introduced for the first point " +
+                              "only, in order to safely compute " +
+                              "it from the interpolation.")
+
+                if k == plot_points-1 and t > param_max:
+                    # This might happen for the last point
+                    # (i.e. k = plot_points-1) when prange[1], and hence
+                    # tmax, should equal param_max; but mere numerical
+                    # rounding coming from having taken
+                    # tmax = numerical_approx(prange[1) might raise errors
+                    # from trying to evaluate the interpolation at a time
+                    # greater than self.domain.upper_bound().
+                    # Hence the line below that subtract 1% of the
+                    # step to compute even more safely the last point
+                    t = param_max - 0.01*dt
+                    if verbose:
+                        print("A tiny final offset equal to " +
+                              "{} ".format(0.01*dt) +
+                              "was introduced for the last point " +
+                              "in order to safely compute " +
+                              "it from the interpolation.")
+
+                plot_curve.append([interpolation[j-i0](t) for j in ind_pc])
+
+                if k == 0 and t > tmin:
+                    # in case an initial offset was earlier added to
+                    # 'tmin' in order to avoid errors, it is now needed
+                    # to cancel this offset for the next steps
+                    t = tmin
+                t += dt
+
+            if display_tangent:
+                from sage.plot.arrow import arrow2d
+                from sage.plot.graphics import Graphics
+                from sage.plot.plot3d.shapes import arrow3d
+
+                scale = kwds.pop('scale')
+                plot_points_tangent = kwds.pop('plot_points_tangent')
+                width_tangent = kwds.pop('width_tangent')
+
+                plot_vectors = Graphics()
+                dt = (tmax - tmin) / (plot_points_tangent - 1)
+                t = tmin
+
+                for k in range(plot_points_tangent):
+                    if k == 0 and t < param_min:
+                        # This might happen for the first point
+                        # (i.e. k = 0) when prange[0], and hence tmin
+                        # should equal param_min; but mere numerical
+                        # rounding coming from having taken
+                        # tmin = numerical_approx(prange[0]) might
+                        # raise errors from trying to evaluate the
+                        # interpolation at a time smaller than
+                        # self.domain.lower_bound().
+                        # Hence the line below that add 1% of the step
+                        # to compute even more safely the first point.
+                        t = param_min + 0.01*dt
+                        if verbose:
+                            print("A tiny initial offset equal to " +
+                                  "{} ".format(0.01*dt) +
+                                  "was introduced for the first point " +
+                                  "only, in order to safely compute " +
+                                  "it from the interpolation.")
+
+                    if k == plot_points_tangent - 1 and t > param_max:
+                        # This might happen for the last point
+                        # (i.e. k = plot_points_tangent-1) when
+                        # prange[1], and hence tmax, should equal
+                        # param_max; but mere numerical rounding coming from
+                        # having taken tmax = numerical_approx(prange[1)
+                        # might raise errors from trying to evaluate the
+                        # interpolation at a time greater than
+                        # self.domain.upper_bound(). Hence the line below
+                        # that subtracts 1% of the step to compute even
+                        # more safely the last point.
+                        t = param_max - 0.01*dt
+                        if verbose:
+                            print("A tiny final offset equal to " +
+                                  "{} ".format(0.01*dt) +
+                                  "was introduced for the last point " +
+                                  "in order to safely compute " +
+                                  "it from the interpolation.")
+
+                    # interpolated ambient coordinates:
+                    xp = [interpolation[j-i0](t) for j in ind_pc]
+
+                    # tangent vector ambiant components evaluated
+                    # from the interpolation:
+                    vec = [coordinate_curve_spline.derivative(t)
+                       for coordinate_curve_spline in interpolation]
+
+                    coord_tail = xp
+                    coord_head = [xp[j] + scale*vec[j]
+                                  for j in range(len(xp))]
+
+                    if coord_head != coord_tail:
+                        if n_pc == 2:
+                            plot_vectors += arrow2d(tailpoint=coord_tail,
+                                                    headpoint=coord_head,
+                                                    color=color_tangent,
+                                                    width=width_tangent)
+                        else:
+                            plot_vectors += arrow3d(coord_tail,
+                                                    coord_head,
+                                                    color=color_tangent,
+                                                    width=width_tangent)
+
+                    if k == 0 and t > tmin:
+                        # in case an initial offset was earlier added
+                        # to 'tmin' in order to avoid errors, it is now
+                        # needed to cancel this offset for the next steps
+                        t = tmin
+                    t += dt
+
+                return plot_vectors + DifferentiableCurve._graphics(self,
+                                         plot_curve, ambient_coords,
+                                         thickness=thickness,
+                                         aspect_ratio=aspect_ratio,
+                                         color=color,
+                                         style=style,
+                                         label_axes=label_axes)
+
+            return DifferentiableCurve._graphics(self, plot_curve,
+                             ambient_coords, thickness=thickness,
+                             aspect_ratio=aspect_ratio, color=color,
+                             style=style, label_axes=label_axes)
+        else:
+            #
+            # The coordinate expressions of the mapping and the
+            # coordinates involved
+            #
+            for chart_pair in mapping._coord_expression:
+                subs = (chart_pair[0]._subcharts, chart_pair[1]._subcharts)
+                # 'subs' declared only for the line below to be shorter
+                if self._chart in subs[0] and chart in subs[1]:
+                    transf = {}
+                    required_coords = set()
+                    for pc in ambient_coords:
+                        jpc = chart[:].index(pc)
+                        AUX = mapping._coord_expression[chart_pair]
+                        # 'AUX' used only for the lines of source code
+                        # to be shorter
+                        transf[pc] = AUX.expr()[jpc]
+                        AUX2 = transf[pc].variables() # idem
+                        required_coords = required_coords.union(AUX2)
+                    break
+            else:
+                raise ValueError("no expression has been found for " +
+                                 "{} in terms of {}".format(self,chart))
+
+            # fastf is the fast version of a substitution + numerical evaluation
+            # using fast_callable.
+            fastf = [fast_callable(transf[chart[i]], vars=tuple(self._chart[:]))
+                     for i in ind_pc]
+
+            if not isinstance(interpolation[0], Spline):
+                # partial test, in case future interpolation objects do not
+                # contain lists of instances of the Spline class
+                raise TypeError("unexpected type of interpolation object")
+
+            #
+            # List of points for the plot curve
+            #
+            plot_curve = []
+            dt = (tmax - tmin) / (plot_points - 1)
+            t = tmin
+            required_coords_values = {}
+
+            for k in range(plot_points):
+                if k == 0 and t < param_min:
+                    # This might happen for the first point (i.e. k = 0)
+                    # when prange[0], and hence tmin, should equal param_min;
+                    # but mere numerical rounding coming from having taken
+                    # tmin = numerical_approx(prange[0]) might
+                    # raise errors from trying to evaluate the
+                    # interpolation at a time smaller than
+                    # self.domain.lower_bound(). Hence the line below that adds
+                    # 1% of the step to compute even more safely the first point
+                    t = param_min + 0.01*dt
+                    if verbose:
+                        print("A tiny initial offset equal to " +
+                              "{} ".format(0.01*dt) +
+                              "was introduced for the first point " +
+                              "only, in order to safely compute " +
+                              "it from the interpolation.")
+
+                if k == plot_points - 1 and t > param_max:
+                    # This might happen for the last point (i.e. k = plot_points-1)
+                    # when prange[1], and hence tmax, should equal
+                    # param_max; but mere numerical rounding coming from
+                    # having taken tmax = numerical_approx(prange[1)
+                    # might raise errors from trying to evaluate the
+                    # interpolation at a time greater than
+                    # self.domain.upper_bound(). Hence the line below that
+                    # subtracts 1% of the step to compute even more safely
+                    # the last point.
+                    t = param_max - 0.01*dt
+                    if verbose:
+                        print("A tiny final offset equal to " +
+                              "{} ".format(0.01*dt) +
+                              "was introduced for the last point " +
+                              "in order to safely compute " +
+                              "it from the interpolation.")
+
+                # list of coordinates, argument of fastf, the fast diff_map
+                arg = [inter(t) for inter in interpolation]
+                # evaluation of fastf
+                xp = [fastf[j](*arg) for j in range(len(ambient_coords))]
+                plot_curve.append(xp)
+
+                if k == 0 and t > tmin:
+                    # in case an initial offset was earlier added to
+                    # 'tmin' in order to avoid errors, it is now needed
+                    # to cancel this offset for the next steps
+                    t = tmin
+
+                t += dt
+
+            if display_tangent:
+                from sage.plot.arrow import arrow2d
+                from sage.plot.graphics import Graphics
+                from sage.plot.plot3d.shapes import arrow3d
+
+                scale = kwds.pop('scale')
+                plot_points_tangent = kwds.pop('plot_points_tangent')
+                width_tangent = kwds.pop('width_tangent')
+
+                plot_vectors = Graphics()
+                dt = (tmax - tmin) / (plot_points_tangent - 1)
+                t = tmin
+                Dcoord_Dt = {}
+
+                Dpc_Dcoord = {}
+                for pc in ambient_coords:
+                    Dpc_Dcoord[pc] = {}
+                    for coord in transf[pc].variables():
+                        Dpc_Dcoord[pc][coord] = transf[pc].derivative(coord)
+
+                for k in range(plot_points_tangent):
+                    if k == 0 and t < param_min:
+                        # This might happen for the first point (i.e. k = 0)
+                        # when prange[0], and hence tmin, should equal param_min;
+                        # but mere numerical rounding coming from having taken
+                        # tmin = numerical_approx(prange[0]) might
+                        # raise errors from trying to evaluate the
+                        # interpolation at a time smaller than
+                        # self.domain.lower_bound(). Hence the line below
+                        # that adds 1% of the step to compute even more
+                        # safely the first point
+                        t = param_min + 0.01*dt
+                        if verbose:
+                            print("A tiny initial offset equal to " +
+                                  "{} ".format(0.01*dt) +
+                                  "was introduced for the first point " +
+                                  "only, in order to safely compute " +
+                                  "it from the interpolation.")
+
+                    if k == plot_points_tangent - 1 and t > param_max:
+                        # This might happen for the last point
+                        # (i.e. k = plot_points_tangent-1) when
+                        # when prange[1], and hence tmax, should equal
+                        # param_max; but mere numerical rounding coming from
+                        # having taken tmax = numerical_approx(prange[1)
+                        # might raise errors from trying to evaluate the
+                        # interpolation at a time greater than
+                        # self.domain.upper_bound(). Hence the line below
+                        # that subtracts 1% of the step to compute even
+                        # more safely the last point
+                        t = param_max - 0.01*dt
+                        if verbose:
+                            print("A tiny final offset equal to " +
+                                  "{} ".format(0.01*dt) +
+                                  "was introduced for the last point " +
+                                  "in order to safely compute " +
+                                  "it from the interpolation.")
+
+                    for coord in required_coords:
+                        i = self._chart[:].index(coord)
+                        AUX = interpolation[i] # 'AUX' only used
+                        # for the lines below to be shorter
+                        required_coords_values[coord] = AUX(t)
+                        Dcoord_Dt[coord] = AUX.derivative(t)
+
+                    xp = []
+                    pushed_vec = []
+                    for j in ind_pc:
+                        pc = chart[j]
+                        AUX = transf[pc]
+                        AUX = AUX.substitute(required_coords_values)
+                        # 'AUX' only used for the lines of code to
+                        # be shorter
+                        xp += [numerical_approx(AUX)]
+
+                        pushed_comp = 0
+                        for coord in transf[pc].variables():
+                            D = Dpc_Dcoord[pc][coord]
+                            D = D.substitute(required_coords_values)
+                            D = numerical_approx(D)
+                            pushed_comp += Dcoord_Dt[coord] * D
+
+                        pushed_vec += [pushed_comp]
+
+                    coord_tail = xp
+                    coord_head = [val + scale*pushed_vec[j]
+                                  for j, val in enumerate(xp)]
+
+                    if coord_head != coord_tail:
+                        if n_pc == 2:
+                            plot_vectors += arrow2d(tailpoint=coord_tail,
+                                                    headpoint=coord_head,
+                                                    color=color_tangent,
+                                                    width=width_tangent)
+                        else:
+                            plot_vectors += arrow3d(coord_tail,
+                                                    coord_head,
+                                                    color=color_tangent,
+                                                    width=width_tangent)
+
+                    if k == 0 and t > tmin:
+                        # in case an initial offset was earlier added to
+                        # 'tmin' in order to avoid errors, it is now needed
+                        # to cancel this offset for the next steps
+                        t = tmin
+
+                    t += dt
+                return plot_vectors + DifferentiableCurve._graphics(self,
+                                         plot_curve, ambient_coords,
+                                         thickness=thickness,
+                                         aspect_ratio=aspect_ratio,
+                                         color=color,
+                                         style=style,
+                                         label_axes=label_axes)
+            return DifferentiableCurve._graphics(self, plot_curve,
+                             ambient_coords, thickness=thickness,
+                             aspect_ratio=aspect_ratio, color=color,
+                             style=style, label_axes=label_axes)
+
+
+class IntegratedAutoparallelCurve(IntegratedCurve):
+    r"""
+    Autoparallel curve on the manifold with respect to a given
+    affine connection.
+
+    INPUT:
+
+    - ``parent`` --
+      :class:`~sage.manifolds.differentiable.manifold_homset.IntegratedAutoparallelCurveSet`
+      the set of curves `\mathrm{Hom_{autoparallel}}(I, M)` to which the
+      curve belongs
+    - ``affine_connection`` --
+      :class:`~sage.manifolds.differentiable.affine_connection.AffineConnection`
+      affine connection with respect to which the curve is autoparallel
+    - ``curve_parameter`` -- symbolic expression to be used as the
+      parameter of the curve (the equations defining an instance of
+      IntegratedAutoparallelCurve are such that ``t`` will actually be
+      an affine parameter of the curve)
+    - ``initial_tangent_vector`` --
+      :class:`~sage.manifolds.differentiable.tangent_vector.TangentVector`
+      initial tangent vector of the curve
+    - ``chart`` -- (default: ``None``) chart on the manifold in terms of
+      which the equations are expressed; if ``None`` the default chart
+      of the manifold is assumed
+    - ``name`` -- (default: ``None``) string; symbol given to the curve
+    - ``latex_name`` -- (default: ``None``) string; LaTeX symbol to
+      denote the curve; if none is provided, ``name`` will be used
+
+    EXAMPLES:
+
+    Autoparallel curves associated with the Mercator projection of the
+    unit 2-sphere `\mathbb{S}^{2}`.
+
+    .. SEEALSO::
+
+        https://idontgetoutmuch.wordpress.com/2016/11/24/mercator-a-connection-with-torsion/
+        for more details about Mercator projection.
+
+    On the Mercator projection, the lines of longitude all appear
+    vertical and then all parallel with respect to each other.
+    Likewise, all the lines of latitude appear horizontal and parallel
+    with respect to each other.
+    These curves may be recovered as autoparallel curves of a certain
+    connection `\nabla` to be made explicit.
+
+    Start with declaring the standard polar coordinates
+    `(\theta, \phi)` on `\mathbb{S}^{2}` and the
+    corresponding coordinate frame `(e_{\theta}, e_{\phi})`::
+
+        sage: S2 = Manifold(2, 'S^2', start_index=1)
+        sage: polar.<th,ph>=S2.chart()
+        sage: epolar = polar.frame()
+
+    Normalizing `e_{\phi}` provides an orthonormal basis::
+
+        sage: ch_basis = S2.automorphism_field()
+        sage: ch_basis[1,1], ch_basis[2,2] = 1, 1/sin(th)
+        sage: epolar_ON = epolar.new_frame(ch_basis,'epolar_ON')
+
+    Denote `(\hat{e}_{\theta}, \hat{e}_{\phi})` such an orthonormal frame
+    field. In any point, the vector field `\hat{e}_{\theta}` is
+    normalized and tangent to the line of longitude through the point.
+    Likewise, `\hat{e}_{\phi}` is normalized and tangent to the
+    line of latitude.
+
+    Now, set an affine connection with respect to such fields that are
+    parallelly transported in all directions, that is:
+    `\nabla \hat{e}_{\theta} = \nabla \hat{e}_{\phi} = 0`.
+    This is equivalent to setting all the connection coefficients to
+    zero with respect to this frame::
+
+        sage: nab = S2.affine_connection('nab')
+        sage: nab.set_coef(frame=epolar_ON)[:]
+        [[[0, 0], [0, 0]], [[0, 0], [0, 0]]]
+
+    This connection is such that two vectors are parallel if their
+    angles to a given meridian are the same.
+    Check that this connection is compatible with the Euclidean
+    metric tensor `g` induced on `\mathbb{S}^{2}`::
+
+        sage: g = S2.metric('g')
+        sage: g[1,1], g[2,2] = 1, (sin(th))^2
+        sage: nab(g)[:]
+        [[[0, 0], [0, 0]], [[0, 0], [0, 0]]]
+
+    Yet, this connection is not the Levi-Civita connection, which
+    implies that it has non-vanishing torsion::
+
+        sage: nab.torsion()[:]
+        [[[0, 0], [0, 0]], [[0, cos(th)/sin(th)], [-cos(th)/sin(th), 0]]]
+
+    Set generic initial conditions for the autoparallel curves to
+    compute::
+
+        sage: [th0, ph0, v_th0, v_ph0] = var('th0 ph0 v_th0 v_ph0')
+        sage: p = S2.point((th0, ph0), name='p')
+        sage: Tp = S2.tangent_space(p)
+        sage: v = Tp((v_th0, v_ph0), basis=epolar_ON.at(p))
+
+    Note here that the components ``(v_th0, v_ph0)`` of the initial
+    tangent vector ``v`` refer to the basis
+    ``epolar_ON`` `= (\hat{e}_{\theta}, \hat{e}_{\phi})`
+    and not the coordinate basis ``epolar`` `= (e_{\theta}, e_{\phi})`.
+    This is merely to help picture the aspect of the tangent vector in
+    the usual embedding of `\mathbb{S}^{2}` in
+    `\mathbb{R}^{3}` thanks to using an orthonormal frame,
+    since providing the components with respect to the coordinate basis
+    would require multiplying the second component (i.e. the `\phi`
+    component) in order to picture the vector in the same way.
+    This subtlety will need to be taken into account later when the
+    numerical curve will be compared to the analytical solution.
+
+    Now, declare the corresponding integrated autoparallel curve and display
+    the differential system it satisfies::
+
+        sage: [t, tmin, tmax] = var('t tmin tmax')
+        sage: c = S2.integrated_autoparallel_curve(nab, (t, tmin, tmax),
+        ....:                                  v, chart=polar, name='c')
+        sage: sys = c.system(verbose=True)
+        Autoparallel curve c in the 2-dimensional differentiable
+         manifold S^2 equipped with Affine connection nab on the
+         2-dimensional differentiable manifold S^2, and integrated over
+         the Real interval (tmin, tmax) as a solution to the following
+         equations, written with respect to Chart (S^2, (th, ph)):
+        <BLANKLINE>
+        Initial point: Point p on the 2-dimensional differentiable
+         manifold S^2 with coordinates [th0, ph0] with respect to
+         Chart (S^2, (th, ph))
+        Initial tangent vector: Tangent vector at Point p on the
+         2-dimensional differentiable manifold S^2 with
+         components [v_th0, v_ph0/sin(th0)] with respect to Chart (S^2, (th, ph))
+        <BLANKLINE>
+        d(th)/dt = Dth
+        d(ph)/dt = Dph
+        d(Dth)/dt = 0
+        d(Dph)/dt = -Dph*Dth*cos(th)/sin(th)
+        <BLANKLINE>
+
+    Set a dictionary providing the parameter range and the initial
+    conditions for a line of latitude and a line of longitude::
+
+        sage: dict_params={'latit':{tmin:0,tmax:3,th0:pi/4,ph0:0.1,v_th0:0,v_ph0:1},
+        ....:   'longi':{tmin:0,tmax:3,th0:0.1,ph0:0.1,v_th0:1,v_ph0:0}}
+
+    Declare the Mercator coordinates `(\xi, \zeta)` and the
+    corresponding coordinate change from the polar coordinates::
+
+        sage: mercator.<xi,ze> = S2.chart(r'xi:(-oo,oo):\xi ze:(0,2*pi):\zeta')
+        sage: polar.transition_map(mercator, (log(tan(th/2)), ph))
+        Change of coordinates from Chart (S^2, (th, ph)) to Chart
+         (S^2, (xi, ze))
+
+    Ask for the identity map in terms of these charts in order to add
+    this coordinate change to its dictionary of expressions. This is
+    required to plot the curve with respect to the Mercator chart::
+
+        sage: identity = S2.identity_map()
+        sage: identity.coord_functions(polar, mercator)
+        Coordinate functions (log(sin(1/2*th)/cos(1/2*th)), ph) on the
+         Chart (S^2, (th, ph))
+
+    Solve, interpolate and prepare the plot for the solutions
+    corresponding to the two initial conditions previously set::
+
+        sage: # needs scipy sage.plot
+        sage: graph2D_mercator = Graphics()
+        sage: for key in dict_params:
+        ....:     sol = c.solve(solution_key='sol-'+key,
+        ....:                        parameters_values=dict_params[key])
+        ....:     interp = c.interpolate(solution_key='sol-'+key,
+        ....:                           interpolation_key='interp-'+key)
+        ....:     graph2D_mercator+=c.plot_integrated(interpolation_key='interp-'+key,
+        ....:                               chart=mercator, thickness=2)
+
+    Prepare a grid of Mercator coordinates lines, and plot the curves
+    over it::
+
+        sage: # needs scipy sage.plot
+        sage: graph2D_mercator_coords=mercator.plot(chart=mercator,
+        ....:                            number_values=8,color='yellow')
+        sage: graph2D_mercator + graph2D_mercator_coords
+        Graphics object consisting of 18 graphics primitives
+
+    .. PLOT::
+
+        S2 = Manifold(2, 'S^2', start_index=1)
+        polar = S2.chart('th ph'); th, ph = polar[:]
+        epolar = polar.frame()
+        ch_basis = S2.automorphism_field()
+        ch_basis[1,1], ch_basis[2,2] = 1, 1/sin(th)
+        epolar_ON = epolar.new_frame(ch_basis, 'epolar_ON')
+        nab = S2.affine_connection('nab')
+        _ = nab.set_coef(frame=epolar_ON)
+        t,tmin,tmax,th0,ph0,v_th0,v_ph0 = var('t tmin tmax th0 ph0 v_th0 v_ph0')
+        p = S2.point((th0, ph0), name='p')
+        Tp = S2.tangent_space(p)
+        v = Tp((v_th0, v_ph0), basis=epolar_ON.at(p))
+        c = S2.integrated_autoparallel_curve(nab, (t, tmin, tmax), v,
+                                                  chart=polar, name='c')
+        dict_params={'latit':{tmin:0,tmax:3,th0:pi/4,ph0:0.1,v_th0:0,v_ph0:1},
+                'longi':{tmin:0,tmax:3,th0:0.1,ph0:0.1,v_th0:1,v_ph0:0}}
+        mercator = S2.chart(r'xi:(-oo,oo):\xi ze:(0,2*pi):\zeta')
+        xi,ze = var('xi ze')
+        _ = polar.transition_map(mercator, (log(tan(th/2)), ph))
+        identity = S2.identity_map()
+        identity.coord_functions(polar, mercator)
+        graph2D_mercator = Graphics()
+        for key in dict_params:
+            sol = c.solve(solution_key='sol-'+key,
+                          parameters_values=dict_params[key])
+            interp = c.interpolate(solution_key='sol-'+key,
+                                   interpolation_key='interp-'+key)
+            graph2D_mercator += c.plot_integrated(interpolation_key='interp-'+key,
+                                            chart=mercator, thickness=2)
+        graph2D_mercator_coords = mercator.plot(chart=mercator,
+                                                number_values=8, color='yellow')
+        sphinx_plot(graph2D_mercator + graph2D_mercator_coords)
+
+    The resulting curves are horizontal and vertical as expected.
+    It is easier to check that these are latitude and longitude lines
+    respectively when plotting them on `\mathbb{S}^{2}`.
+    To do so, use `\mathbb{R}^{3}` as the codomain of the standard
+    map embedding `(\mathbb{S}^{2}, (\theta, \phi))` in the
+    3-dimensional Euclidean space::
+
+        sage: R3 = Manifold(3, 'R3', start_index=1)
+        sage: cart.<X,Y,Z> = R3.chart()
+        sage: euclid_embedding = S2.diff_map(R3,
+        ....:  {(polar, cart):[sin(th)*cos(ph),sin(th)*sin(ph),cos(th)]})
+
+    Plot the resulting curves on the grid of polar coordinates lines on
+    `\mathbb{S}^{2}`::
+
+        sage: # needs sage.plot
+        sage: graph3D_embedded_curves = Graphics()
+        sage: for key in dict_params:
+        ....:     graph3D_embedded_curves += c.plot_integrated(interpolation_key='interp-'+key,
+        ....:            mapping=euclid_embedding, thickness=5,
+        ....:            display_tangent=True, scale=0.4, width_tangent=0.5)
+        sage: graph3D_embedded_polar_coords = polar.plot(chart=cart,
+        ....:                          mapping=euclid_embedding,
+        ....:                          number_values=15, color='yellow')
+        sage: graph3D_embedded_curves + graph3D_embedded_polar_coords
+        Graphics3d Object
+
+    .. PLOT::
+
+        S2 = Manifold(2, 'S^2', start_index=1)
+        polar = S2.chart('th ph'); th, ph = polar[:]
+        epolar = polar.frame()
+        ch_basis = S2.automorphism_field()
+        ch_basis[1,1], ch_basis[2,2] = 1, 1/sin(th)
+        epolar_ON = epolar.new_frame(ch_basis, 'epolar_ON')
+        nab = S2.affine_connection('nab')
+        _ = nab.set_coef(frame=epolar_ON)
+        t,tmin,tmax,th0,ph0,v_th0,v_ph0 = var('t tmin tmax th0 ph0 v_th0 v_ph0')
+        p = S2.point((th0, ph0), name='p')
+        Tp = S2.tangent_space(p)
+        v = Tp((v_th0, v_ph0), basis=epolar_ON.at(p))
+        c = S2.integrated_autoparallel_curve(nab, (t, tmin, tmax), v,
+                                             chart=polar, name='c')
+        dict_params = {'latit':{tmin:0,tmax:3,th0:pi/4,ph0:0.1,v_th0:0,v_ph0:1},
+                       'longi':{tmin:0,tmax:3,th0:0.1,ph0:0.1,v_th0:1,v_ph0:0}}
+        R3 = Manifold(3, 'R3', start_index=1)
+        cart = R3.chart('X Y Z'); X, Y, Z = cart[:]
+        euclid_embedding = S2.diff_map(R3,
+              {(polar, cart): [sin(th)*cos(ph),sin(th)*sin(ph),cos(th)]})
+        graph3D_embedded_curves = Graphics()
+        for key in dict_params:
+            sol = c.solve(solution_key='sol-'+key,
+                          parameters_values=dict_params[key])
+            interp = c.interpolate(solution_key='sol-'+key,
+                                   interpolation_key='interp-'+key)
+            graph3D_embedded_curves += c.plot_integrated(interpolation_key='interp-'+key,
+                     mapping=euclid_embedding, thickness=5,
+                     display_tangent=True, scale=0.4, width_tangent=0.5)
+        graph3D_embedded_polar_coords = polar.plot(chart=cart,
+                                       mapping=euclid_embedding,
+                                       number_values=15, color='yellow')
+        graph = graph3D_embedded_curves+graph3D_embedded_polar_coords
+        sphinx_plot(graph)
+
+    Finally, one may plot a general autoparallel curve with respect to
+    `\nabla` that is neither a line of latitude or longitude.
+    The vectors tangent to such a curve make an angle different from 0
+    or `\pi/2` with the lines of latitude and longitude.
+    Then, compute a curve such that both components of its initial
+    tangent vectors are nonzero::
+
+        sage: # needs scipy
+        sage: sol = c.solve(solution_key='sol-angle',
+        ....:  parameters_values={tmin:0,tmax:2,th0:pi/4,ph0:0.1,v_th0:1,v_ph0:8})
+        sage: interp = c.interpolate(solution_key='sol-angle',
+        ....:                          interpolation_key='interp-angle')
+
+    Plot the resulting curve in the Mercator plane.
+    This generates a straight line, as expected::
+
+        sage: c.plot_integrated(interpolation_key='interp-angle',                       # needs scipy sage.plot
+        ....:         chart=mercator, thickness=1, display_tangent=True,
+        ....:         scale=0.2, width_tangent=0.2)
+        Graphics object consisting of 11 graphics primitives
+
+    .. PLOT::
+
+        S2 = Manifold(2, 'S^2', start_index=1)
+        polar = S2.chart('th ph'); th, ph = polar[:]
+        epolar = polar.frame()
+        ch_basis = S2.automorphism_field()
+        ch_basis[1,1], ch_basis[2,2] = 1, 1/sin(th)
+        epolar_ON = epolar.new_frame(ch_basis, 'epolar_ON')
+        nab = S2.affine_connection('nab')
+        _ = nab.set_coef(frame=epolar_ON)
+        t,tmin,tmax,th0,ph0,v_th0,v_ph0 = var('t tmin tmax th0 ph0 v_th0 v_ph0')
+        p = S2.point((th0, ph0), name='p')
+        Tp = S2.tangent_space(p)
+        v = Tp((v_th0, v_ph0), basis=epolar_ON.at(p))
+        c = S2.integrated_autoparallel_curve(nab, (t, tmin, tmax), v,
+                                                  chart=polar, name='c')
+        mercator = S2.chart(r'xi:(-oo,oo):\xi ze:(0,2*pi):\zeta')
+        xi, ze = mercator[:]
+        trans_map = polar.transition_map(mercator, (log(tan(th/2)), ph))
+        identity = S2.identity_map()
+        _ = identity.coord_functions(polar, mercator)
+        sol = c.solve(solution_key='sol-angle',
+            parameters_values={tmin:0,tmax:2,th0:pi/4,ph0:0.1,v_th0:1,v_ph0:8})
+        interp = c.interpolate(solution_key='sol-angle',
+                               interpolation_key='interp-angle')
+        graph2D_mercator_angle_curve=c.plot_integrated(
+                      interpolation_key='interp-angle',
+                      chart=mercator, thickness=1, display_tangent=True,
+                      scale=0.2, width_tangent=0.2)
+        sphinx_plot(graph2D_mercator_angle_curve)
+
+    One may eventually plot such a curve on `\mathbb{S}^{2}`::
+
+        sage: # needs scipy sage.plot
+        sage: graph3D_embedded_angle_curve=c.plot_integrated(interpolation_key='interp-angle',
+        ....:        mapping=euclid_embedding, thickness=5,
+        ....:        display_tangent=True, scale=0.1, width_tangent=0.5)
+        sage: graph3D_embedded_angle_curve + graph3D_embedded_polar_coords
+        Graphics3d Object
+
+    .. PLOT::
+
+        S2 = Manifold(2, 'S^2', start_index=1)
+        polar = S2.chart('th ph'); th, ph = polar[:]
+        epolar = polar.frame()
+        ch_basis = S2.automorphism_field()
+        ch_basis[1,1], ch_basis[2,2] = 1, 1/sin(th)
+        epolar_ON = epolar.new_frame(ch_basis, 'epolar_ON')
+        nab = S2.affine_connection('nab')
+        _ = nab.set_coef(frame=epolar_ON)
+        t,tmin,tmax,th0,ph0,v_th0,v_ph0 = var('t tmin tmax th0 ph0 v_th0 v_ph0')
+        p = S2.point((th0, ph0), name='p')
+        Tp = S2.tangent_space(p)
+        v = Tp((v_th0, v_ph0), basis=epolar_ON.at(p))
+        c = S2.integrated_autoparallel_curve(nab, (t, tmin, tmax), v,
+                                                  chart=polar, name='c')
+        R3 = Manifold(3, 'R3', start_index=1)
+        cart = R3.chart('X Y Z')
+        euclid_embedding = S2.diff_map(R3,
+              {(polar, cart):[sin(th)*cos(ph),sin(th)*sin(ph),cos(th)]})
+        sol = c.solve(solution_key='sol-angle',
+            parameters_values={tmin:0,tmax:2,th0:pi/4,ph0:0.1,v_th0:1,v_ph0:8})
+        interp = c.interpolate(solution_key='sol-angle',
+                               interpolation_key='interp-angle')
+        graph3D_embedded_angle_curve = c.plot_integrated(interpolation_key='interp-angle',
+            mapping=euclid_embedding, thickness=5, display_tangent=True,
+            scale=0.1, width_tangent=0.5)
+        graph3D_embedded_polar_coords = polar.plot(chart=cart,
+             mapping=euclid_embedding, number_values=15, color='yellow')
+        graph = graph3D_embedded_angle_curve + graph3D_embedded_polar_coords
+        sphinx_plot(graph)
+
+    All the curves presented are loxodromes, and the differential system
+    defining them (displayed above) may be solved analytically,
+    providing the following expressions:
+
+    .. MATH::
+
+        \begin{aligned}
+        \theta(t) &= \theta_{0} + \dot{\theta}_{0} (t - t_{0}),      \\
+        \phi(t) &= \phi_{0} - \frac{1}{\tan \alpha} \left(
+        \ln \tan \frac{\theta_{0} + \dot{\theta}_{0} (t - t_{0})}{2} -
+        \ln \tan \frac{\theta_{0}}{2} \right),
+        \end{aligned}
+
+    where `\alpha` is the angle between the curve and any latitude
+    line it crosses; then, one finds
+    `\tan \alpha = - \dot{\theta}_{0} / (\dot{\phi}_{0} \sin \theta_{0})`
+    (then `\tan \alpha \leq 0` when the initial tangent vector
+    points towards the southeast).
+
+    In order to use these expressions to compare with the result
+    provided by the numerical integration, remember that the components
+    ``(v_th0, v_ph0)`` of the initial
+    tangent vector ``v`` refer to the basis
+    ``epolar_ON`` `= (\hat{e}_{\theta}, \hat{e}_{\phi})` and not the
+    coordinate basis
+    ``epolar`` `= (e_{\theta}, e_{\phi})`.
+    Therefore, the following relations hold:
+    ``v_ph0`` `= \dot{\phi}_{0} \sin \theta_{0}` (and not merely
+    `\dot{\phi}_{0}`), while ``v_th0`` clearly is `\dot{\theta}_{0}`.
+
+    With this in mind, plot an analytical curve to compare with a
+    numerical solution::
+
+        sage: # needs scipy sage.plot
+        sage: graph2D_mercator_angle_curve = c.plot_integrated(interpolation_key='interp-angle',
+        ....:                               chart=mercator, thickness=1)
+        sage: expr_ph = ph0+v_ph0/v_th0*(ln(tan((v_th0*t+th0)/2))-ln(tan(th0/2)))
+        sage: c_loxo = S2.curve({polar:[th0+v_th0*t, expr_ph]}, (t,0,2),
+        ....:                                             name='c_loxo')
+
+    Ask for the expression of the loxodrome in terms of the Mercator
+    chart in order to add it to its dictionary of expressions.
+    It is a particularly long expression, and there is no particular
+    need to display it, which is why it may simply be affected to an
+    arbitrary variable ``expr_mercator``, which will never be used
+    again.
+    But adding the expression to the dictionary is required to plot the
+    curve with respect to the Mercator chart::
+
+        sage: expr_mercator = c_loxo.expression(chart2=mercator)                        # needs scipy sage.plot
+
+    Plot the curves (for clarity, set a 2 degrees shift in the initial
+    value of `\theta_{0}` so that the curves do not overlap)::
+
+        sage: # needs scipy sage.plot
+        sage: graph2D_mercator_loxo = c_loxo.plot(chart=mercator,
+        ....:  parameters={th0:pi/4+2*pi/180, ph0:0.1, v_th0:1, v_ph0:8},
+        ....:  thickness=1, color='blue')
+        sage: graph2D_mercator_angle_curve + graph2D_mercator_loxo
+        Graphics object consisting of 2 graphics primitives
+
+    .. PLOT::
+
+        S2 = Manifold(2, 'S^2', start_index=1)
+        polar = S2.chart('th ph'); th, ph = polar[:]
+        epolar = polar.frame()
+        ch_basis = S2.automorphism_field()
+        ch_basis[1,1], ch_basis[2,2] = 1, 1/sin(th)
+        epolar_ON = epolar.new_frame(ch_basis, 'epolar_ON')
+        nab = S2.affine_connection('nab')
+        _ = nab.set_coef(frame=epolar_ON)
+        t, tmin, tmax, th0, ph0 = var('t tmin tmax th0 ph0')
+        v_th0, v_ph0, alpha = var('v_th0 v_ph0 alpha')
+        p = S2.point((th0, ph0), name='p')
+        Tp = S2.tangent_space(p)
+        v = Tp((v_th0, v_ph0), basis=epolar_ON.at(p))
+        c = S2.integrated_autoparallel_curve(nab, (t, tmin, tmax), v,
+                                                  chart=polar, name='c')
+        mercator = S2.chart(r'xi:(-oo,oo):\xi ze:(0,2*pi):\zeta')
+        xi, ze = mercator[:]
+        trans_map = polar.transition_map(mercator, (log(tan(th/2)), ph))
+        identity = S2.identity_map()
+        _ = identity.coord_functions(polar, mercator)
+        sol = c.solve(solution_key='sol-angle',
+            parameters_values={tmin:0,tmax:2,th0:pi/4,ph0:0.1,v_th0:1,v_ph0:8})
+        interp = c.interpolate(solution_key='sol-angle',
+                               interpolation_key='interp-angle')
+        graph2D_mercator_angle_curve = c.plot_integrated(interpolation_key='interp-angle',
+                                                         chart=mercator, thickness=1)
+        expr_ph = ph0+v_ph0/v_th0*(ln(tan((v_th0*t+th0)/2))-ln(tan(th0/2)))
+        c_loxo = S2.curve({polar: [th0+v_th0*t, expr_ph]}, (t,0,2), name='c_loxo')
+        expr = c_loxo.expression(chart2=mercator)
+        graph2D_mercator_loxo = c_loxo.plot(chart=mercator,
+              parameters={th0:pi/4+2*pi/180, ph0:0.1, v_th0:1, v_ph0:8},
+              thickness=1, color='blue')
+        sphinx_plot(graph2D_mercator_angle_curve+graph2D_mercator_loxo)
+
+    Both curves do have the same aspect.
+    One may eventually compare these curves on `\mathbb{S}^{2}`::
+
+        sage: # needs scipy sage.plot
+        sage: graph3D_embedded_angle_curve=c.plot_integrated(interpolation_key='interp-angle',
+        ....:                     mapping=euclid_embedding, thickness=3)
+        sage: graph3D_embedded_loxo = c_loxo.plot(mapping=euclid_embedding,
+        ....:  parameters={th0:pi/4+2*pi/180, ph0:0.1, v_th0:1, v_ph0:8},
+        ....:  thickness=3, color = 'blue')
+        sage: (graph3D_embedded_angle_curve + graph3D_embedded_loxo
+        ....:  + graph3D_embedded_polar_coords)
+        Graphics3d Object
+
+    .. PLOT::
+
+        S2 = Manifold(2, 'S^2', start_index=1)
+        polar = S2.chart('th ph'); th, ph = polar[:]
+        epolar = polar.frame()
+        ch_basis = S2.automorphism_field()
+        ch_basis[1,1], ch_basis[2,2] = 1, 1/sin(th)
+        epolar_ON = epolar.new_frame(ch_basis, 'epolar_ON')
+        nab = S2.affine_connection('nab')
+        _ = nab.set_coef(frame=epolar_ON)
+        t, tmin, tmax, th0, ph0 = var('t tmin tmax th0 ph0')
+        v_th0, v_ph0, alpha = var('v_th0 v_ph0 alpha')
+        p = S2.point((th0, ph0), name='p')
+        Tp = S2.tangent_space(p)
+        v = Tp((v_th0, v_ph0), basis=epolar_ON.at(p))
+        c = S2.integrated_autoparallel_curve(nab, (t, tmin, tmax), v,
+                                             chart=polar, name='c')
+        R3 = Manifold(3, 'R3', start_index=1)
+        cart = R3.chart('X Y Z')
+        euclid_embedding = S2.diff_map(R3,
+              {(polar, cart):[sin(th)*cos(ph),sin(th)*sin(ph),cos(th)]})
+        sol = c.solve(solution_key='sol-angle',
+            parameters_values={tmin:0,tmax:2,th0:pi/4,ph0:0.1,v_th0:1,v_ph0:8})
+        interp = c.interpolate(solution_key='sol-angle',
+                               interpolation_key='interp-angle')
+        graph3D_embedded_angle_curve = c.plot_integrated(interpolation_key='interp-angle',
+                                  mapping=euclid_embedding, thickness=3)
+        expr_ph = ph0+v_ph0/v_th0*(ln(tan((v_th0*t+th0)/2))-ln(tan(th0/2)))
+        c_loxo = S2.curve({polar: [th0+v_th0*t, expr_ph]}, (t,0,2), name='c_loxo')
+        graph3D_embedded_loxo = c_loxo.plot(mapping=euclid_embedding,
+              parameters={th0:pi/4+2*pi/180, ph0:0.1, v_th0:1, v_ph0:8},
+              thickness=3, color='blue')
+        graph3D_embedded_polar_coords = polar.plot(chart=cart,
+             mapping=euclid_embedding, number_values=15, color='yellow')
+        graph = graph3D_embedded_angle_curve + graph3D_embedded_loxo
+        graph += graph3D_embedded_polar_coords
+        sphinx_plot(graph)
+    """
+
+    def __init__(self, parent, affine_connection, curve_parameter,
+                 initial_tangent_vector, chart=None, name=None,
+                 latex_name=None, verbose=False, across_charts=False):
+        r"""
+        Construct an autoparallel curve with respect to the given affine
+        connection with the given initial tangent vector.
+
+        TESTS::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, A, B] = var('t A B')
+            sage: nab = M.affine_connection('nabla', r'\nabla')
+            sage: nab[X.frame(),0,0,1],nab[X.frame(),2,1,2]=A*x1^2,B*x2*x3
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_autoparallel_curve(nab, (t, 0, 5), v,
+            ....:                                          name='c') ; c
+            Integrated autoparallel curve c in the 3-dimensional
+             differentiable manifold M
+            sage: TestSuite(c).run()
+        """
+
+        # setting the chart to gain access to the coordinate functions
+        if chart is None:
+            chart = parent.codomain().default_chart()
+
+        velocities = chart.symbolic_velocities()
+
+        dim = parent.codomain().dim()
+        i0 = parent.codomain().start_index()
+
+        self._across_charts = across_charts
+        if not across_charts:
+
+            equations_rhs = []
+
+            gamma = affine_connection.coef(frame=chart.frame())
+
+            for rho in range(dim):
+                rhs = 0
+                for mu in range(dim):
+                    for nu in range(dim):
+                        vMUvNU = velocities[mu] * velocities[nu]
+                        gammaRHO_mu_nu = gamma[[rho+i0, mu+i0, nu+i0]].expr(chart=chart)
+                        # line above is the expression of the scalar
+                        # field 'gamma[[rho+i0, mu+i0, nu+i0]]' in terms
+                        # of 'chart' (here, in any point of the manifold,
+                        # the scalar field 'gamma[[rho+i0, mu+i0, nu+i0]]'
+                        # provides the coefficient [rho+i0, mu+i0, nu+i0]
+                        # of the affine connection with respect to frame
+                        # 'chart.frame()')
+                        rhs -= gammaRHO_mu_nu * vMUvNU
+                        # 'vMUvNU' and 'gammaRHO_mu_nu' only used for the
+                        # line above to be shorter
+                equations_rhs += [rhs.simplify_full()]
+        else:
+            equations_rhs = {}          # Dict of all equation in all top_charts
+            for chart in parent.codomain().top_charts():
+                velocities = chart.symbolic_velocities()
+                equations_rhs_chart = []  # Equation in one chart
+                gamma = affine_connection.coef(frame=chart.frame())
+                for rho in range(dim):
+                    rhs = 0
+                    for mu in range(dim):
+                        for nu in range(dim):
+                            vMUvNU = velocities[mu] * velocities[nu]
+                            gammaRHO_mu_nu = gamma[
+                                [rho + i0, mu + i0, nu + i0]].expr(chart=chart)
+                            rhs -= gammaRHO_mu_nu * vMUvNU
+                    equations_rhs_chart += [rhs.simplify_full()]
+                equations_rhs[chart] = equations_rhs_chart
+
+        IntegratedCurve.__init__(self, parent, equations_rhs,
+                                 velocities, curve_parameter,
+                                 initial_tangent_vector, chart=chart,
+                                 name=name, latex_name=latex_name,
+                                 verbose=verbose, across_charts=across_charts)
+
+        self._affine_connection = affine_connection
+
+    def _repr_(self):
+        r"""
+        Return a string representation of ``self``.
+
+        TESTS::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, A, B] = var('t A B')
+            sage: nab = M.affine_connection('nabla', r'\nabla')
+            sage: nab[X.frame(),0,0,1],nab[X.frame(),2,1,2]=A*x1^2,B*x2*x3
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_autoparallel_curve(nab, (t,0,5), v); c
+            Integrated autoparallel curve in the 3-dimensional
+             differentiable manifold M
+            sage: c = M.integrated_autoparallel_curve(nab, (t, 0, 5), v,
+            ....:                                          name='c') ; c
+            Integrated autoparallel curve c in the 3-dimensional
+             differentiable manifold M
+        """
+
+        description = "Integrated autoparallel curve "
+        if self._name is not None:
+            description += self._name + " "
+        description += "in the {}".format(self._codomain)
+        return description
+
+    def __reduce__(self):
+        r"""
+        Reduction function for the pickle protocole.
+
+        TESTS::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, A, B] = var('t A B')
+            sage: nab = M.affine_connection('nabla', r'\nabla')
+            sage: nab[X.frame(),0,0,1],nab[X.frame(),2,1,2]=A*x1^2,B*x2*x3
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_autoparallel_curve(nab, (t, 0, 5), v,
+            ....:                                              name='c')
+            sage: c.__reduce__()
+            (<class 'sage.manifolds.differentiable.manifold_homset.IntegratedAutoparallelCurveSet_with_category.element_class'>,
+             (Set of Morphisms from Real interval (0, 5) to
+              3-dimensional differentiable manifold M in Category of homsets of
+              topological spaces which actually are integrated autoparallel
+              curves with respect to a certain affine connection,
+              Affine connection nabla on the 3-dimensional
+              differentiable manifold M,
+              t,
+              Tangent vector at Point p on the 3-dimensional
+               differentiable manifold M,
+              Chart (M, (x1, x2, x3)),
+              'c',
+              'c',
+              False,
+              False))
+
+        Test of pickling::
+
+            sage: loads(dumps(c))
+            Integrated autoparallel curve c in the 3-dimensional differentiable manifold M
+        """
+
+        return (type(self), (self.parent(), self._affine_connection,
+                self._curve_parameter, self._initial_tangent_vector,
+                self._chart, self._name, self._latex_name, False,
+                self._across_charts))
+
+    def system(self, verbose=False):
+        r"""
+        Provide a detailed description of the system defining the
+        autoparallel curve and returns the system defining it: chart,
+        equations and initial conditions.
+
+        INPUT:
+
+        - ``verbose`` -- boolean (default: ``False``); prints a detailed
+          description of the curve
+
+        OUTPUT:
+
+        - list containing the
+
+          * the equations
+          * the initial conditions
+          * the chart
+
+        EXAMPLES:
+
+        System defining an autoparallel curve::
+
+            sage: M = Manifold(3, 'M')
+            sage: X.<x1,x2,x3> = M.chart()
+            sage: [t, A, B] = var('t A B')
+            sage: nab = M.affine_connection('nabla', r'\nabla')
+            sage: nab[X.frame(),0,0,1],nab[X.frame(),2,1,2]=A*x1^2,B*x2*x3
+            sage: p = M.point((0,0,0), name='p')
+            sage: Tp = M.tangent_space(p)
+            sage: v = Tp((1,0,1))
+            sage: c = M.integrated_autoparallel_curve(nab, (t, 0, 5), v)
+            sage: sys = c.system(verbose=True)
+            Autoparallel curve in the 3-dimensional differentiable
+             manifold M equipped with Affine connection nabla on the
+             3-dimensional differentiable manifold M, and integrated
+             over the Real interval (0, 5) as a solution to the
+             following equations, written with respect to
+             Chart (M, (x1, x2, x3)):
+            <BLANKLINE>
+            Initial point: Point p on the 3-dimensional differentiable
+             manifold M with coordinates [0, 0, 0] with respect to
+             Chart (M, (x1, x2, x3))
+            Initial tangent vector: Tangent vector at Point p on the
+             3-dimensional differentiable manifold M with
+             components [1, 0, 1] with respect to Chart (M, (x1, x2, x3))
+            <BLANKLINE>
+            d(x1)/dt = Dx1
+            d(x2)/dt = Dx2
+            d(x3)/dt = Dx3
+            d(Dx1)/dt = -A*Dx1*Dx2*x1^2
+            d(Dx2)/dt = 0
+            d(Dx3)/dt = -B*Dx2*Dx3*x2*x3
+            <BLANKLINE>
+            sage: sys_bis = c.system()
+            sage: sys_bis == sys
+            True
+        """
+
+        v0 = self._initial_tangent_vector
+        chart = self._chart
+
+        if verbose:
+            initial_tgt_space = v0.parent()
+            initial_pt = initial_tgt_space.base_point() # retrieves
+            # the initial point as the base point of the tangent space
+            # to which initial tangent vector belongs
+            initial_pt_coords = list(initial_pt.coordinates(chart))
+            # previous line converts to list since would otherwise be a
+            # tuple ; will raise error if coordinates in chart are not
+            # known
+
+            initial_coord_basis = chart.frame().at(initial_pt)
+            initial_tgt_vec_comps = v0[initial_coord_basis,:] # will
+            # raise error if components in coordinate basis are not
+            # known
+
+            description = "Autoparallel curve "
+            if self._name is not None:
+                description += self._name + " "
+            description += "in the {} ".format(self.codomain())
+            description += "equipped with "
+            description += "{}, ".format(self._affine_connection)
+            description += "and integrated over the "
+            description += "{} ".format(self.domain())
+            description += "as a solution to the following equations, "
+            description += "written with respect to "
+            description += "{}:\n\n".format(chart)
+
+            description += "Initial point: {} ".format(initial_pt)
+            description += "with coordinates "
+            description += "{} ".format(initial_pt_coords)
+            description += "with respect to {}\n".format(chart)
+
+            description += "Initial tangent vector: {} ".format(v0)
+            description += "with components "
+            description += "{}".format(initial_tgt_vec_comps)
+            description += " with respect to {}\n\n".format(chart)
+
+            for coord_func,velocity in zip(chart[:],self._velocities):
+                description += "d({})/d{} = {}\n".format(coord_func,
+                                                  self._curve_parameter,
+                                                  velocity)
+
+            for velocity,eqn in zip(self._velocities,self._equations_rhs):
+                description += "d({})/d{} = {}\n".format(velocity,
+                                                  self._curve_parameter,
+                                                  eqn)
+
+            print(description)
+
+        return [self._equations_rhs, v0, chart]
+
+
+class IntegratedGeodesic(IntegratedAutoparallelCurve):
+    r"""
+    Geodesic on the manifold with respect to a given metric.
+
+    INPUT:
+
+    - ``parent`` --
+      :class:`~sage.manifolds.differentiable.manifold_homset.IntegratedGeodesicSet`
+      the set of curves `\mathrm{Hom_{geodesic}}(I, M)` to which the
+      curve belongs
+    - ``metric`` --
+      :class:`~sage.manifolds.differentiable.metric.PseudoRiemannianMetric`
+      metric with respect to which the curve is a geodesic
+    - ``curve_parameter`` -- symbolic expression to be used as the
+      parameter of the curve (the equations defining an instance of
+      IntegratedGeodesic are such that ``t`` will actually be an affine
+      parameter of the curve);
+    - ``initial_tangent_vector`` --
+      :class:`~sage.manifolds.differentiable.tangent_vector.TangentVector`
+      initial tangent vector of the curve
+    - ``chart`` -- (default: ``None``) chart on the manifold in terms of
+      which the equations are expressed; if ``None`` the default chart
+      of the manifold is assumed
+    - ``name`` -- (default: ``None``) string; symbol given to the curve
+    - ``latex_name`` -- (default: ``None``) string; LaTeX symbol to denote
+      the curve; if none is provided, ``name`` will be used
+
+    EXAMPLES:
+
+    Geodesics of the unit 2-sphere `\mathbb{S}^{2}`.
+    Start with declaring the standard polar coordinates
+    `(\theta, \phi)` on `\mathbb{S}^{2}` and the
+    corresponding coordinate frame `(e_{\theta}, e_{\phi})`::
+
+        sage: S2 = Manifold(2, 'S^2', structure='Riemannian', start_index=1)
+        sage: polar.<th,ph>=S2.chart('th ph')
+        sage: epolar = polar.frame()
+
+    Set the standard round metric::
+
+        sage: g = S2.metric()
+        sage: g[1,1], g[2,2] = 1, (sin(th))^2
+
+    Set generic initial conditions for the geodesics to compute::
+
+        sage: [th0, ph0, v_th0, v_ph0] = var('th0 ph0 v_th0 v_ph0')
+        sage: p = S2.point((th0, ph0), name='p')
+        sage: Tp = S2.tangent_space(p)
+        sage: v = Tp((v_th0, v_ph0), basis=epolar.at(p))
+
+    Declare the corresponding integrated geodesic and display the
+    differential system it satisfies::
+
+        sage: [t, tmin, tmax] = var('t tmin tmax')
+        sage: c = S2.integrated_geodesic(g, (t, tmin, tmax), v,
+        ....:                            chart=polar, name='c')
+        sage: sys = c.system(verbose=True)
+        Geodesic c in the 2-dimensional Riemannian manifold S^2
+         equipped with Riemannian metric g on the 2-dimensional
+         Riemannian manifold S^2, and integrated over the Real
+         interval (tmin, tmax) as a solution to the following geodesic
+         equations, written with respect to Chart (S^2, (th, ph)):
+        <BLANKLINE>
+        Initial point: Point p on the 2-dimensional Riemannian
+        manifold S^2 with coordinates [th0, ph0] with respect to
+        Chart (S^2, (th, ph))
+        Initial tangent vector: Tangent vector at Point p on the
+        2-dimensional Riemannian manifold S^2 with
+        components [v_th0, v_ph0] with respect to Chart (S^2, (th, ph))
+        <BLANKLINE>
+        d(th)/dt = Dth
+        d(ph)/dt = Dph
+        d(Dth)/dt = Dph^2*cos(th)*sin(th)
+        d(Dph)/dt = -2*Dph*Dth*cos(th)/sin(th)
+        <BLANKLINE>
+
+    Set a dictionary providing the parameter range and the initial
+    conditions for various geodesics::
+
+        sage: dict_params={'equat':{tmin:0,tmax:3,th0:pi/2,ph0:0.1,v_th0:0,v_ph0:1},
+        ....:   'longi':{tmin:0,tmax:3,th0:0.1,ph0:0.1,v_th0:1,v_ph0:0},
+        ....:   'angle':{tmin:0,tmax:3,th0:pi/4,ph0:0.1,v_th0:1,v_ph0:1}}
+
+    Use `\mathbb{R}^{3}` as the codomain of the standard map
+    embedding `(\mathbb{S}^{2}, (\theta, \phi))` in the
+    3-dimensional Euclidean space::
+
+        sage: R3 = Manifold(3, 'R3', start_index=1)
+        sage: cart.<X,Y,Z> = R3.chart()
+        sage: euclid_embedding = S2.diff_map(R3,
+        ....:  {(polar, cart):[sin(th)*cos(ph),sin(th)*sin(ph),cos(th)]})
+
+    Solve, interpolate and prepare the plot for the solutions
+    corresponding to the three initial conditions previously set::
+
+        sage: # needs scipy sage.plot
+        sage: graph3D_embedded_geods = Graphics()
+        sage: for key in dict_params:
+        ....:     sol = c.solve(solution_key='sol-'+key,
+        ....:                        parameters_values=dict_params[key])
+        ....:     interp = c.interpolate(solution_key='sol-'+key,
+        ....:                           interpolation_key='interp-'+key)
+        ....:     graph3D_embedded_geods += c.plot_integrated(interpolation_key='interp-'+key,
+        ....:                      mapping=euclid_embedding, thickness=5,
+        ....:                      display_tangent=True, scale=0.3,
+        ....:                      width_tangent=0.5)
+
+    Plot the resulting geodesics on the grid of polar coordinates lines
+    on `\mathbb{S}^{2}` and check that these are great circles::
+
+        sage: # needs scipy sage.plot
+        sage: graph3D_embedded_polar_coords = polar.plot(chart=cart,
+        ....:                          mapping=euclid_embedding,
+        ....:                          number_values=15, color='yellow')
+        sage: graph3D_embedded_geods + graph3D_embedded_polar_coords
+        Graphics3d Object
+
+    .. PLOT::
+
+        S2 = Manifold(2, 'S^2', structure='Riemannian', start_index=1)
+        polar = S2.chart('th ph'); th, ph = polar[:]
+        epolar = polar.frame()
+        g = S2.metric()
+        g[1,1], g[2,2] = 1, (sin(th))**2
+        t,tmin,tmax,th0,ph0,v_th0,v_ph0 = var('t tmin tmax th0 ph0 v_th0 v_ph0')
+        p = S2.point((th0, ph0), name='p')
+        Tp = S2.tangent_space(p)
+        v = Tp((v_th0, v_ph0), basis=epolar.at(p))
+        c = S2.integrated_geodesic(g, (t, tmin, tmax), v, chart=polar,
+                                                               name='c')
+        dict_params={'equat':{tmin:0,tmax:3,th0:pi/2,ph0:0.1,v_th0:0,v_ph0:1},
+                     'longi':{tmin:0,tmax:3,th0:0.1,ph0:0.1,v_th0:1,v_ph0:0},
+                     'angle':{tmin:0,tmax:3,th0:pi/4,ph0:0.1,v_th0:1,v_ph0:1}}
+        R3 = Manifold(3, 'R3', start_index=1)
+        cart = R3.chart('X Y Z')
+        euclid_embedding = S2.diff_map(R3,
+              {(polar, cart): [sin(th)*cos(ph),sin(th)*sin(ph),cos(th)]})
+        graph3D_embedded_geods = Graphics()
+        for key in dict_params:
+            sol = c.solve(solution_key='sol-'+key,
+                          parameters_values=dict_params[key])
+            interp = c.interpolate(solution_key='sol-'+key,
+                                   interpolation_key='interp-'+key)
+            graph3D_embedded_geods += c.plot_integrated(interpolation_key='interp-'+key,
+                                  mapping=euclid_embedding, thickness=5,
+                                  display_tangent=True, scale=0.3,
+                                  width_tangent=0.5)
+        graph3D_embedded_polar_coords = polar.plot(chart=cart,
+                                       mapping=euclid_embedding,
+                                       number_values=15, color='yellow')
+        graph = graph3D_embedded_geods + graph3D_embedded_polar_coords
+        sphinx_plot(graph)
+    """
+
+    def __init__(self, parent, metric, curve_parameter,
+                 initial_tangent_vector, chart=None, name=None,
+                 latex_name=None, verbose=False, across_charts=False):
+        r"""
+        Construct a geodesic curve with respect to the given metric with the
+        given initial tangent vector.
+
+        TESTS::
+
+            sage: S2 = Manifold(2, 'S^2', structure='Riemannian')
+            sage: X.<theta,phi> = S2.chart()
+            sage: t, A = var('t A')
+            sage: g = S2.metric()
+            sage: g[0,0] = A
+            sage: g[1,1] = A*sin(theta)^2
+            sage: p = S2.point((pi/2,0), name='p')
+            sage: Tp = S2.tangent_space(p)
+            sage: v = Tp((1/sqrt(2),1/sqrt(2)))
+            sage: c = S2.integrated_geodesic(g, (t,0,pi), v, name='c'); c
+            Integrated geodesic c in the 2-dimensional Riemannian
+             manifold S^2
+            sage: TestSuite(c).run()
+        """
+
+        affine_connection = metric.connection()
+
+        IntegratedAutoparallelCurve.__init__(self, parent,
+                                             affine_connection, curve_parameter,
+                                             initial_tangent_vector, chart=chart,
+                                             name=name, latex_name=latex_name,
+                                             verbose=verbose, across_charts=across_charts)
+
+        self._metric = metric
+        self._across_charts = across_charts
+
+    def _repr_(self):
+        r"""
+        Return a string representation of ``self``.
+
+        TESTS::
+
+            sage: S2 = Manifold(2, 'S^2', structure='Riemannian')
+            sage: X.<theta,phi> = S2.chart()
+            sage: t, A = var('t A')
+            sage: g = S2.metric()
+            sage: g[0,0] = A
+            sage: g[1,1] = A*sin(theta)^2
+            sage: p = S2.point((pi/2,0), name='p')
+            sage: Tp = S2.tangent_space(p)
+            sage: v = Tp((1/sqrt(2),1/sqrt(2)))
+            sage: c = S2.integrated_geodesic(g, (t, 0, pi), v) ; c
+            Integrated geodesic in the 2-dimensional Riemannian
+             manifold S^2
+            sage: c = S2.integrated_geodesic(g, (t,0,pi), v, name='c'); c
+            Integrated geodesic c in the 2-dimensional Riemannian
+             manifold S^2
+        """
+
+        description = "Integrated geodesic "
+        if self._name is not None:
+            description += self._name + " "
+        description += "in the {}".format(self._codomain)
+        return description
+
+    def __reduce__(self):
+        r"""
+        Reduction function for the pickle protocole.
+
+        TESTS::
+
+            sage: S2 = Manifold(2, 'S^2', structure='Riemannian')
+            sage: X.<theta,phi> = S2.chart()
+            sage: t, A = var('t A')
+            sage: g = S2.metric()
+            sage: g[0,0] = A
+            sage: g[1,1] = A*sin(theta)^2
+            sage: p = S2.point((pi/2,0), name='p')
+            sage: Tp = S2.tangent_space(p)
+            sage: v = Tp((1/sqrt(2),1/sqrt(2)))
+            sage: c = S2.integrated_geodesic(g, (t, 0, pi), v, name='c')
+            sage: c.__reduce__()
+            (<...IntegratedGeodesicSet_with_category.element_class'>,
+             (Set of Morphisms from Real interval (0, pi) to
+              2-dimensional Riemannian manifold S^2 in Category of homsets of
+              topological spaces which actually are integrated geodesics with
+              respect to a certain metric,
+              Riemannian metric g on the 2-dimensional Riemannian
+              manifold S^2,
+              t,
+              Tangent vector at Point p on the 2-dimensional
+               Riemannian manifold S^2,
+              Chart (S^2, (theta, phi)),
+              'c',
+              'c',
+              False,
+              False))
+
+        Test of pickling::
+
+            sage: loads(dumps(c))
+            Integrated geodesic c in the 2-dimensional Riemannian manifold S^2
+        """
+
+        return (type(self), (self.parent(), self._metric,
+                self._curve_parameter, self._initial_tangent_vector,
+                self._chart, self._name, self._latex_name, False,
+                self._across_charts))
+
+    def system(self, verbose=False):
+        r"""
+        Return the system defining the geodesic: chart, equations and
+        initial conditions.
+
+        INPUT:
+
+        - ``verbose`` -- boolean (default: ``False``); prints a detailed
+          description of the curve
+
+        OUTPUT: list containing
+
+          * the equations
+          * the initial equations
+          * the chart
+
+        EXAMPLES:
+
+        System defining a geodesic::
+
+            sage: S2 = Manifold(2, 'S^2',structure='Riemannian')
+            sage: X.<theta,phi> = S2.chart()
+            sage: t, A = var('t A')
+            sage: g = S2.metric()
+            sage: g[0,0] = A
+            sage: g[1,1] = A*sin(theta)^2
+            sage: p = S2.point((pi/2,0), name='p')
+            sage: Tp = S2.tangent_space(p)
+            sage: v = Tp((1/sqrt(2),1/sqrt(2)))
+            sage: c = S2.integrated_geodesic(g, (t, 0, pi), v, name='c')
+            sage: sys = c.system(verbose=True)
+            Geodesic c in the 2-dimensional Riemannian manifold S^2
+             equipped with Riemannian metric g on the 2-dimensional
+             Riemannian manifold S^2, and integrated over the Real
+             interval (0, pi) as a solution to the following geodesic
+             equations, written with respect to Chart (S^2, (theta, phi)):
+            <BLANKLINE>
+            Initial point: Point p on the 2-dimensional Riemannian
+             manifold S^2 with coordinates [1/2*pi, 0] with respect to
+             Chart (S^2, (theta, phi))
+            Initial tangent vector: Tangent vector at Point p on the
+             2-dimensional Riemannian manifold S^2 with
+             components [1/2*sqrt(2), 1/2*sqrt(2)] with respect to
+             Chart (S^2, (theta, phi))
+            <BLANKLINE>
+            d(theta)/dt = Dtheta
+            d(phi)/dt = Dphi
+            d(Dtheta)/dt = Dphi^2*cos(theta)*sin(theta)
+            d(Dphi)/dt = -2*Dphi*Dtheta*cos(theta)/sin(theta)
+            <BLANKLINE>
+            sage: sys_bis = c.system()
+            sage: sys_bis == sys
+            True
+        """
+
+        v0 = self._initial_tangent_vector
+        chart = self._chart
+
+        if verbose:
+            initial_tgt_space = v0.parent()
+            initial_pt = initial_tgt_space.base_point()
+            # retrieves the initial point as the base point of the
+            # tangent space to which initial tangent vector belongs
+
+            initial_pt_coords = list(initial_pt.coordinates(chart))
+            # previous line converts to list since would otherwise be
+            # a tuple ; will raise error if coordinates in chart are
+            # not known
+
+            initial_coord_basis = chart.frame().at(initial_pt)
+            initial_tgt_vec_comps = v0[initial_coord_basis,:]
+            # will raise error if components in coordinate basis are
+            # not known
+
+            description = "Geodesic "
+            if self._name is not None:
+                description += self._name + " "
+            description += "in the {} ".format(self.codomain())
+            description += "equipped with "
+            description += "{}, ".format(self._metric)
+            description += "and integrated over the "
+            description += "{} ".format(self.domain())
+            description += "as a solution to the following "
+            description += "geodesic equations, written with respect to "
+            description += "{}:\n\n".format(chart)
+
+            description += "Initial point: {} ".format(initial_pt)
+            description += "with coordinates "
+            description += "{} ".format(initial_pt_coords)
+            description += "with respect to {}\n".format(chart)
+
+            description += "Initial tangent vector: {} ".format(v0)
+            description += "with components "
+            description += "{}".format(initial_tgt_vec_comps)
+            description += " with respect to {}\n\n".format(chart)
+
+            for coord_func,velocity in zip(chart[:],self._velocities):
+                description += "d({})/d{} = {}\n".format(coord_func,
+                                                  self._curve_parameter,
+                                                  velocity)
+
+            for velocity,eqn in zip(self._velocities,self._equations_rhs):
+                description += "d({})/d{} = {}\n".format(velocity,
+                                                  self._curve_parameter,
+                                                  eqn)
+
+            print(description)
+
+        return [self._equations_rhs, v0, chart]