CHANGELOG

Changelog for package fuse_constraints

1.2.1 (2024-09-21)

  • Fix stringop-overread compile issues (#381)

  • Contributors: Stephen Williams

1.2.0 (2024-05-02)

1.1.1 (2024-05-02)

  • Required formatting changes for the lastest version of ROS 2 Rolling (#368)

  • Contributors: Stephen Williams

1.1.0 (2024-04-20)

  • Port support for Ceres 2.1.0 Manifold class into ROS 2 Rolling (#366) * Support gcc12 and ceres 2.1.0 * Add support for the Manifold class when using Ceres Solver version 2.1.0 and above * General clean up for Ceres 2.2.0 support * Updated serialization support to be backwards compatible with previously serialized files * Formatting changes required for ROS 2 Rolling / Ubuntu Noble

  • Contributors: Stephen Williams

1.0.1 (2023-03-03)

1.0.0 (2023-03-03)

  • Use rclcpp::Clock::wait_until_started (#303)

  • fuse -> ROS 2 : Doc Generation (#278) * Port doc generation and fix package.xml for linting * Fix small bugs in package.xml * Use default rosdoc2 settings * Use default rosdoc2 settings * Update fuse_doc for rosdoc2 ——— Co-authored-by: Shane Loretz <sloretz@google.com>

  • fuse -> ROS 2 fuse_publishers: Port fuse_publishers (#299) Co-authored-by: Shane Loretz <shane.loretz@gmail.com>

  • ROS 2 port of fuse_viz (#301) * Initial attempt at porting fuse_viz * Make sure suitesparse can be found downstream * Plugin library names can’t have lib/ prefix * Plugin library names can’t have lib/ prefix * Add lint tests (they currently fail)

  • fuse -> ROS 2 fuse_constraints : Linting (#298)

  • fuse -> ROS 2 fuse_constraints: Port fuse_constraints (#290) Co-authored-by: Shane Loretz <sloretz@osrfoundation.org>

  • fuse -> ROS 2 fuse_graphs: Linting (#297)

  • fuse -> ROS 2 fuse_variables: Linting (#296) * Migrate to .hpp files * Create redirection headers * Make xmllint and uncrustify happy * Wrap most comment lines * Satisfy cpplint

  • fuse -> ROS 2 fuse_core: Linting (#292)

  • fuse -> ROS 2 fuse_core : Parameters and Tests (#286) Co-authored-by: Shane Loretz <sloretz@osrfoundation.org> Co-authored-by: Ivor Wanders <ivor@iwanders.net>

  • fuse -> ROS 2 : Port Time (#283)

  • Fuse -> ROS 2 fuse_core: Partial port of fuse_core (#281) Co-authored-by: Brett Downing

  • fuse -> ROS 2: Clean up macro usage warnings (#280)

  • fuse -> ROS 2 fuse_msgs : Port package and ignore unported packages for now (#277) Co-authored-by: Tom Moore <tmoore@locusrobotics.com>

  • [RST-4186] Fix fuse macro names (#263) * Namespace all macros with the FUSE_ prefix. Mark original macros as deprecated. * Update all fuse objects to use the new macro names

  • [RST-4390] Allow variables to be held constant during optimization (#243) * Add support for holding variables constant * Create a ‘fixed’ landmark * Added initial support for marginalizing constant variables

  • Adding doxygen to all packages (#241)

  • Contributors: Shane Loretz, Stephen Williams, Tom Moore, methylDragon

0.4.2 (2021-07-20)

  • Adding roslint dependency to fuse_viz (#231) * Adding roslint dependency to fuse_viz * Silence CMP0048 warnings

  • Contributors: Tom Moore

0.4.1 (2021-07-13)

  • Use analytic relative pose 2d cost function (#193) * Use analytic relative pose 2d cost function * Add analytic NormalDeltaPose2D cost function * Use analytic NormalDeltaPose2D cost function in RelativePose2DStampedConstraint * Test NormalDeltaPose2D jacobians are correct, comparing against NormalDeltaPose2DCostFunctor using automatic differentiation * Benchmark NormalDeltaPose2D vs NormalDeltaPose2DCostFunctor using automatic differentiation for 1, 2 and 3 residuals. The latency speedup is approximately 1.35, 1.49 and 1.55, respectively.

  • Use analytic absolute pose 2d cost function (#192) * Add analytic NormalPriorPose2D cost function * Use analytic NormalPriorPose2D cost function in AbsolutePose2DStampedConstraint * Test NormalPriorPose2D jacobians are correct, comparing against NormalPriorPose2DCostFunctor using automatic differentiation * Benchmark NormalPriorPose2D vs NormalPriorPose2DCostFunctor using automatic differentiation for 1, 2 and 3 residuals. The latency speedup is approximately 2.36, 2.76 and 3.44, respectively.

  • Fix roslint 0.12.0 (#186) * Fix roslint 0.12.0 include_what_you_use warnings Mostly for: * std::move -> #include <utility> * std::make_shared and similar -> #include <memory> * Remove static string variable not permitted by roslint 0.12.0, using a test fixture where needed.

  • Fix Unicycle2DIgnition set_pose (#154) * Initialize StateHistoryElement::velocity_yaw * Process ignition transactions individually * Call motion model generator with last stamp * Skip optimization cycle if transaction is empty

  • Fix compute elimination order with orphan variables (#136) * Test computeEliminationOrder with orphan variables * Fix computeEliminationOrder with orphan variables

  • Fix get constraints with lvalue iterator input (#134) * Change getConstraints signature to return iterator * Update marginalize code to fix the previous usage error

  • Support printing VariableConstraints objects (#132)

  • Add fuse_loss pkg with plugin-based loss functions (#118)

  • Removed the explicit ‘-std=c++14’ compile flag (#119) * Removed the explicit ‘-std=c++14’ compile flag * Changed the CXX_STANDARD setting to be per-target instead of global * Added the CXX_STANDARD_REQUIRED setting to all targets

  • Revert “Fix build with ceres 2.0 with CMake < 3.8 (#106)” (#120) This reverts commit 9933456ecc24ba9b649a8a2885be3f852306efee.

  • Wrap normal delta pose 2d orientation angle error (#122)

  • fix compilation in Kinetic (#112)

  • Support empty linear terms in marginalizeNext (#111) * Enforce constness * Unshadow variable_uuid in inner for loop * Support empty linear terms in marginalizeNext

  • Fix build with ceres 2.0 with CMake < 3.8 (#106) * Note that while the Ceres 2.0 build completes, there may still be some lingering issues.

  • [RST-1951] speed optimizations (#100) * Improved random UUID generator * Minor Eigen assignment speed improvements

  • [RST-2427] Added a ‘source’ field to the constraints. This is an API-breaking change. (#101)

  • [RST-2340] Add serialization support to fuse (#98)

  • Fix -Wall -Wextra warnings in tests (#80)

  • Fix -Wall -Wextra warnings (#77)

  • Contributors: Davide Faconti, Enrique Fernandez Perdomo, Stephen Williams

0.4.0 (2019-07-12)

  • Depend on libceres-dev instead of ceres-solver (#71)

  • [RST-2144] Support proper Eigen memory alignment (#65)

  • [RST-2088] Fix bug causing bad marginal computations occasionally (#60)

  • [RST-1747] fixed lag smoother implementation (#52)

  • Modified Variable class to make the UUID immutable (#55)

  • RST-2025 Fixing size issues (#53) * Fixing size issue with 2D poses * Fixed the size check in MarginalConstraint (#54)

  • [RST-1745] Added a marginalizeVariables() function (#48)

  • [RST-1745] Created a container to hold the list of constraints by variable (#47)

  • [RST-1745] Created a uuid<–>index bidirectional lookup class (#46)

  • [RST-1744] Added a marginal constraint class (#43)

  • [RST-1940] Added a localSize() method to the Variable class (#42)

  • [RST-1927] Update the local parameterization for the orientation variables (#41)

  • [RST-1926] Extend the local parameter definition to include Minus() (#40)

  • Contributors: Enrique Fernández Perdomo, Stephen Williams, Tom Moore

0.3.0 (2019-03-18)

0.2.0 (2019-01-16)

  • [RST-1567] Check the system has started before attempting to optimize (#33) * Check the system has started before attempting to optimize. * Fixed linter issues

  • RST-1559 Adding partial measurement support for relative 2D pose data (#32) * Adding partial measurement support for relative 2D pose data

  • Adding subset measurement support for AbsolutePose2DStampedConstraint (#31) * Adding subset measurement support

  • [RST-1554] test depends (#30) * Refactored all CMakeLists.txt to avoid path issues when using workspace overlays

  • RST-1239 Adding 3D relative pose constraint (#27) * Adding 3D relative pose constraint * Updating expected covariance matrices for anything involving rotations

  • Contributors: Stephen Williams, Tom Moore

0.1.1 (2018-08-15)

0.1.0 (2018-08-12)

  • [RST-1121] Moved the pose publishers (#19) * Clean up Eigen depends and includes

  • Adding absolute 3d pose

  • Fixing quaternion delta computation

  • Converted all Eigen objects to use row-major order (#22)

  • Fixed covariance matrix size (#21)

  • Adding 3D orientation constraints

  • Contributors: Stephen Williams, Tom Moore

0.0.2 (2018-07-16)

  • fixed cut&paste error (#13)

  • Added absolute and relative 2D constraints (#8)

  • Contributors: Stephen Williams

0.0.1 (2018-07-05)