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

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