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Package Summary

Tags No category tags.
Version 1.0.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/fuse.git
VCS Type git
VCS Version rolling
Last Updated 2024-02-27
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The fuse_constraints 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).

Additional Links

No additional links.

Maintainers

  • Stephen Williams

Authors

  • Stephen Williams

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

Changelog for package fuse_constraints

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]{.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 Fern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged fuse_constraints at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.0.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/fuse.git
VCS Type git
VCS Version rolling
Last Updated 2024-02-27
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The fuse_constraints 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).

Additional Links

No additional links.

Maintainers

  • Stephen Williams

Authors

  • Stephen Williams

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

Changelog for package fuse_constraints

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]{.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 Fern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged fuse_constraints at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.8.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/fuse.git
VCS Type git
VCS Version devel
Last Updated 2024-02-02
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The fuse_constraints 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).

Additional Links

No additional links.

Maintainers

  • Stephen Williams

Authors

  • Stephen Williams

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

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

0.8.0 (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 Fern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged fuse_constraints at Robotics Stack Exchange

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Package Summary

Tags No category tags.
Version 0.4.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/fuse.git
VCS Type git
VCS Version galactic-devel
Last Updated 2022-01-21
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The fuse_constraints 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).

Additional Links

No additional links.

Maintainers

  • Stephen Williams

Authors

  • Stephen Williams

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

Changelog for package fuse_constraints

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 Fern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged fuse_constraints at Robotics Stack Exchange

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Package Summary

Tags No category tags.
Version 0.4.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/fuse.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-10-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The fuse_constraints 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).

Additional Links

No additional links.

Maintainers

  • Stephen Williams

Authors

  • Stephen Williams

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

Changelog for package fuse_constraints

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 Fern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged fuse_constraints at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.8.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/fuse.git
VCS Type git
VCS Version devel
Last Updated 2024-02-02
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The fuse_constraints 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).

Additional Links

No additional links.

Maintainers

  • Stephen Williams

Authors

  • Stephen Williams

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

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

0.8.0 (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 Fern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged fuse_constraints at Robotics Stack Exchange