CHANGELOG

Changelog for package hatchbed_common

Add explicit-source-location logging free functions (logging/functions.h): log_at, debug, info, warn, error, fatal — each accepting (logger, file, func, line, message) with both std::string and fmt::format_string overloads, plus no-logger variants that forward to the default logger.
Add 2D convex hull utility (pointcloud/convex_hull_2d.hpp): convexHull2D() computes the CCW convex hull of a range of 2D points using Andrew’s monotone chain algorithm.
Add ConvexPrism type and operations (pointcloud/convex_prism.hpp): makeConvexPrism() builds a prism from 3D points; transformConvexPrism() applies a rigid-body transform; padConvexPrism() expands the XY footprint by a margin; cropToConvexPrism() filters a point cloud to the prism interior.
Add hasXYZFloat() convenience helper to pointcloud/point_cloud2_util.hpp.
Restructure hatchbed_common_localization into two focused sub-libraries: * hatchbed_common::transforms (transforms/transform_util.h,

transforms/covariance_util.h, transforms/pose_buffer.h) – frame geometry, covariance rotation, pose interpolation, tf_reroot and reframe_odom nodes. toIsometry(TransformStamped) is the canonical SE(3) conversion helper.
- hatchbed_common::odometry – odometry signal conversion and velocity muxing nodes: imu_to_twist, odom_to_twist, odom_tf_broadcast, velocity_sensor_mux (formerly twist_mux).
Contributors: Marc Alban

ParamHandler now accepts rclcpp_lifecycle::LifecycleNode via a template constructor that stores ROS node interfaces internally, removing the hard dependency on rclcpp::Node::SharedPtr.
Add unit tests for ParamHandler covering regular nodes, lifecycle nodes, dynamic parameter updates, static parameter rejection, and numeric range constraints.
Add localization utilities: covariance rotation helpers and PoseBuffer with interpolation.
Add point cloud utilities: field helpers, transform/deskew functions, and utility nodes.
Add logging utilities with fmt support.
Add helper for validating ROS parameter names.
Add fmt support for SimpleProfiler.
Contributors: Marc Alban