class_docstr: Class for invariant metrics on Lie groups represented by vectors.
  
  Parameters
  ----------
  space : LieGroup
      Group to equip with the invariant metric
  left : bool
      Whether to use a left or right invariant metric.
      Optional, default: True.
class_docstr_tok: ["Class","for","invariant","metrics","on","Lie","groups","represented","by","vectors",".","Parameters","--","--","--","--","--","space",":","LieGroup","Group","to","equip","with","the","invariant","metric","left",":","bool","Whether","to","use","a","left","or","right","invariant","metric",".","Optional",",","default",":","True","."]
docstr: Compute Riemannian exponential of tangent vector from the identity.
  
  Parameters
  ----------
  tangent_vec : array-like, shape=[..., dim]
      Tangent vector at identity.
  
  Returns
  -------
  exp : array-like, shape=[..., dim]
      Point in the group.
code: def exp_from_identity(self, tangent_vec):
      """Compute Riemannian exponential of tangent vector from the identity.
  
      Parameters
      ----------
      tangent_vec : array-like, shape=[..., dim]
          Tangent vector at identity.
  
      Returns
      -------
      exp : array-like, shape=[..., dim]
          Point in the group.
      """
      if self.left:
          exp = self.left_exp_from_identity(tangent_vec)
  
      else:
          opp_left_exp = self.left_exp_from_identity(-tangent_vec)
          exp = self._space.inverse(opp_left_exp)
  
      return self._space.regularize(exp)
  
imports: import geomstats.backend
  from geomstats.geometry.matrices import Matrices
  from geomstats.geometry.riemannian_metric import RiemannianMetric
  from geomstats.integrator import integrate
  from geomstats.numerics.geodesic import ExpODESolver, LogShootingSolver
  from geomstats.numerics.ivp import GSIVPIntegrator
  from geomstats.vectorization import repeat_out
label_desc: Use image node_id 5 for calling the _InvariantMetricVector obj's underlying member method code with example usage: obj.exp_from_identity(tangent_vec) and returns: self