fuse_constraints

This package provides a set of commonly used constraint types, such as direct measurements on state variables (absolute constraints) or measurements of the state changes (relative constraints).

Changelog for package fuse_constraints

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)
• 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)
• Contributors: Gary Servin, Stephen Williams, Tom Moore

0.7.0 (2023-09-25)

• [RST-7809] Fix optimization errors when the orientation is initialized at +PI (#334)
  • Add some unit tests for the 2D orientation constraints; Create getters/setters for the 2D orientation variable is preparation for a fix.
  • Force the 2D orientation value to be is minimum phase
• Minor header fixes (#266)
  • Use fuse_macros.h instead of deprecated macros.h
  • Add missed header
  • Sort headers
• Update devel to build on Ubuntu Jammy (22.04) (#326)
  • Update to C++17 for use with Ubuntu Jammy
  • Include Rviz and Eigen as system includes, which supresses warnings within the included libraries
  • use pluginlib and class_list_macros .hpp include instead of deprecated .h From: Lucas Walter <<wsacul@gmail.com>>
• 0.6.0
• Update changelogs
• 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)
• Contributors: Enrique Fernandez Perdomo, Gary Servin, Stephen Williams, Tom Moore

0.10.0 (2024-09-16)

0.9.0 (2024-06-17)

• Gcc12 ceres 2.1.0 manifold locus (#363)
  • General clean up for Ceres 2.2.0 support

  * Updated serialization support to be backwards compatible with previously serialized files ---------Co-authored-by: Enrique Fernandez Perdomo <<efernandez@clearpath.ai>>

• Support gcc12 and ceres 2.1.0 (#341) Add support for the Manifold class when using Ceres Solver version 2.1.0 and above ---------Co-authored-by: Jake McLaughlin <<jake.mclaughlin98@gmail.com>>
• Contributors: Enrique Fernandez Perdomo, Stephen Williams

0.8.0 (2024-02-02)

• Fix tests (#348)
• Vision constraints (#349) * FIrst commit for pose estimation from fixed 3D landmarks. Includes a pinhole camera model (no distortion), along with a fixed version and unit tests. Also includes a fixed landmark constraint which optimizes for pose and optionally calibration, along with unit tests. * Updating camera variables, tests and constraints to allow initialisation from a set of 3D points to support multi-marker configurations.
  • Fixes from PR review.
  • Adding validations for pts3d_ in cost functor.
• 0.7.0
• Update changelogs
• [RST-7809] Fix optimization errors when the orientation is initialized at +PI (#334)
  • Add some unit tests for the 2D orientation constraints; Create getters/setters for the 2D orientation variable is preparation for a fix.
  • Force the 2D orientation value to be is minimum phase
• Minor header fixes (#266)
  • Use fuse_macros.h instead of deprecated macros.h
  • Add missed header
  • Sort headers
• Update devel to build on Ubuntu Jammy (22.04) (#326)
  • Update to C++17 for use with Ubuntu Jammy
  • Include Rviz and Eigen as system includes, which supresses warnings within the included libraries
  • use pluginlib and class_list_macros .hpp include instead of deprecated .h From: Lucas Walter <<wsacul@gmail.com>>
• 0.6.0
• Update changelogs
• 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)
• Contributors: Enrique Fernandez Perdomo, Gary Servin, Oscar Mendez, Paul Bovbel, 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)

• Use analytic relative pose 2d cost function (#193)
  • Use analytic relative pose 2d cost function
  • Add analytic [NormalDeltaPose2D]{.title-ref} cost function

  * Use analytic [NormalDeltaPose2D]{.title-ref} cost function in [RelativePose2DStampedConstraint]{.title-ref} * Test [NormalDeltaPose2D]{.title-ref} jacobians are correct, comparing against [NormalDeltaPose2DCostFunctor]{.title-ref} using automatic differentiation * Benchmark [NormalDeltaPose2D]{.title-ref} vs [NormalDeltaPose2DCostFunctor]{.title-ref} 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]{.title-ref} cost function

  * Use analytic [NormalPriorPose2D]{.title-ref} cost function in [AbsolutePose2DStampedConstraint]{.title-ref} * Test [NormalPriorPose2D]{.title-ref} jacobians are correct, comparing against [NormalPriorPose2DCostFunctor]{.title-ref} using automatic differentiation * Benchmark [NormalPriorPose2D]{.title-ref} vs [NormalPriorPose2DCostFunctor]{.title-ref} 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)