0.5.0 (2022-02-23)

• [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)
• [RST-3474] Created a getConstraintCosts() method * Created a getConstraintCosts() method for reporting the costs and residuals of individual constraints
• [RST-2831] Support for optimization bounds (#235)
• Added a time-limited optimization option to the Graph class (#234)
• Contributors: Stephen Williams, Tom Moore

0.6.0 (2023-02-22)

• 0.5.0
• Update changelogs
• [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)
• [RST-3474] Created a getConstraintCosts() method * Created a getConstraintCosts() method for reporting the costs and residuals of individual constraints
• [RST-2831] Support for optimization bounds (#235)
• Added a time-limited optimization option to the Graph class (#234)
• Contributors: Gary Servin, Stephen Williams, Tom Moore

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)

• Improve logs on graph update exception thrown (#227) * Catch graph update exceptions and log fatal msg When the graph update method throws an exception the node crashes and there is no way to know what transaction caused the exception because we call notify after successfully updating the graph. This catches any exception thrown by the graph update method and logs a FATAL message that includes the current graph and the new transaction. * Add full stop to exception messages This homogenizes the exception messages from all exceptions thrown by the HashGraph class.
• Move parameter blocks vector outside loop (#215) This reduces the amount of allocations required, since the same vector and its previously allocated memory is reused among all the graph constraints when the ceres::Problem is created.
• Add HashGraph::createProblem benchmark (#214)
• 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.
• Remove variables on hold (#185) * Test variables on hold are removed when removing a variable * Erase variable on hold when removing variable
• Add evaluate method to graph (#151)
• 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
• fix compilation in Kinetic (#112)
• [RST-2438] Make ceres params loaders reusable (#104) * Moved the Ceres loadFromROS functions into reusable functions in fuse_core * Load solver parameters for the batch optimizer
• Expose Ceres Solver, Problem and Covariance Options as ROS parameters (#78)
• [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)
• Contributors: Davide Faconti, Enrique Fernandez Perdomo, Stephen Williams

0.4.0 (2019-07-12)

• Add print method to Graph and HashGraph (#70)
• Depend on libceres-dev instead of ceres-solver (#71)
• [RST-2144] Support proper Eigen memory alignment (#65)
• [RST-2128] Added a "reset" service to the fixed lag smoother (#61)
• Modified Variable class to make the UUID immutable (#55)
• [RST-1960] Added a tangent/parameter space flag to the covariance function (#50)
• [RST-1949] Added getConnectedVariables() and getConnectedConstraints() (#45)
• [RST-1746] Remove the marginalizeVariable() methods from the Graph class. (#44)
• Contributors: Enrique Fernández Perdomo, Stephen Williams

0.3.0 (2019-03-18)

• [RST-1653] transaction stamps (#37) * Moved the set<ros::Time> object that always accompanies a Transaction into the Transaction itself. * Updated all related classes to support that change
• Contributors: Stephen Williams

0.2.0 (2019-01-16)

• Fix tests for bionic (#34)
• [RST-1554] test depends (#30) * Refactored all CMakeLists.txt to avoid path issues when using workspace overlays
• Contributors: Gary Servin, Stephen Williams

0.1.1 (2018-08-15)

0.1.0 (2018-08-12)

• [RST-1121] Moved the Graph classes (#15) * Moved the Graph and HashGraph classes into the public repo
• Contributors: Stephen Williams

0.0.2 (2018-07-16)

0.0.1 (2018-07-05)