CHANGELOG

Changelog for package mola_pose_list

2.9.0 (2026-05-11)

  • Merge pull request #143 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22

  • bump min req cmake version to 3.22

  • Contributors: Jose Luis Blanco-Claraco

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API: - insert(pose, id) overload - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings

  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds

  • fix clang-tidy warning: avoid std::endl

  • Update coyright notes

  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO

  • clang-format

  • Fix typos and clang-tidy hints

  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

1.8.0 (2025-05-25)

  • Update copyright year

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

1.6.4 (2025-04-23)

  • modernize clang-format

  • Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

1.6.1 (2025-02-13)

1.6.0 (2025-01-21)

1.5.1 (2024-12-29)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

  • Fix ament_xmllint warnings in package.xml

  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings

  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

  • Add sanity asserts

  • Contributors: Jose Luis Blanco-Claraco

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Add new HashedSetSE3 data structure

  • Fix package.xml website URL

  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • Refactor SearchablePoseList into its own package

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)