fuse_constraints package from fuse repofuse fuse_constraints fuse_core fuse_doc fuse_graphs fuse_loss fuse_models fuse_msgs fuse_optimizers fuse_publishers fuse_tutorials fuse_variables fuse_viz |
|
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 | iron |
Last Updated | 2024-10-03 |
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
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 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 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)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
fuse_core | |
fuse_graphs | |
fuse_variables | |
geometry_msgs | |
pluginlib | |
rclcpp | |
ament_cmake_ros | |
ament_cmake_gtest | |
ament_lint_auto | |
ament_lint_common |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged fuse_constraints at Robotics Stack Exchange
fuse_constraints package from fuse repofuse fuse_constraints fuse_core fuse_doc fuse_graphs fuse_loss fuse_models fuse_msgs fuse_optimizers fuse_publishers fuse_tutorials fuse_variables fuse_viz |
|
Package Summary
Tags | No category tags. |
Version | 1.1.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/locusrobotics/fuse.git |
VCS Type | git |
VCS Version | jazzy |
Last Updated | 2024-05-02 |
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
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 for package fuse_constraints
1.1.1 (2024-05-02)
- Required formatting changes for the lastest version of ROS 2 Rolling (#368)
- Contributors: Stephen Williams
1.1.0 (2024-04-20)
- Port support for Ceres 2.1.0 Manifold class into ROS 2 Rolling
(#366)
- Support gcc12 and ceres 2.1.0
- Add support for the Manifold class when using Ceres Solver version 2.1.0 and above
- General clean up for Ceres 2.2.0 support
- Updated serialization support to be backwards compatible with previously serialized files
- Formatting changes required for ROS 2 Rolling / Ubuntu Noble
- Contributors: Stephen Williams
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 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)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
fuse_core | |
fuse_graphs | |
fuse_variables | |
geometry_msgs | |
pluginlib | |
rclcpp | |
ament_cmake_ros | |
ament_cmake_gtest | |
ament_lint_auto | |
ament_lint_common |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged fuse_constraints at Robotics Stack Exchange
fuse_constraints package from fuse repofuse fuse_constraints fuse_core fuse_doc fuse_graphs fuse_loss fuse_models fuse_msgs fuse_optimizers fuse_publishers fuse_tutorials fuse_variables fuse_viz |
|
Package Summary
Tags | No category tags. |
Version | 1.2.1 |
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 | 2024-09-21 |
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
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 for package fuse_constraints
1.2.1 (2024-09-21)
- Fix stringop-overread compile issues (#381)
- Contributors: Stephen Williams
1.2.0 (2024-05-02)
1.1.1 (2024-05-02)
- Required formatting changes for the lastest version of ROS 2 Rolling (#368)
- Contributors: Stephen Williams
1.1.0 (2024-04-20)
- Port support for Ceres 2.1.0 Manifold class into ROS 2 Rolling
(#366)
- Support gcc12 and ceres 2.1.0
- Add support for the Manifold class when using Ceres Solver version 2.1.0 and above
- General clean up for Ceres 2.2.0 support
- Updated serialization support to be backwards compatible with previously serialized files
- Formatting changes required for ROS 2 Rolling / Ubuntu Noble
- Contributors: Stephen Williams
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 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)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
fuse_core | |
fuse_graphs | |
fuse_variables | |
geometry_msgs | |
pluginlib | |
rclcpp | |
ament_cmake_ros | |
ament_cmake_gtest | |
ament_lint_auto | |
ament_lint_common |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged fuse_constraints at Robotics Stack Exchange
fuse_constraints package from fuse repofuse fuse_constraints fuse_core fuse_doc fuse_graphs fuse_loss fuse_models fuse_msgs fuse_optimizers fuse_publishers fuse_tutorials fuse_variables fuse_viz |
|
Package Summary
Tags | No category tags. |
Version | 0.10.0 |
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 | 2024-09-19 |
Dev Status | MAINTAINED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
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 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)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
catkin | |
roslint | |
rostest | |
fuse_core | |
fuse_graphs | |
fuse_variables | |
geometry_msgs | |
pluginlib | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged fuse_constraints at Robotics Stack Exchange
fuse_constraints package from fuse repofuse fuse_constraints fuse_core fuse_doc fuse_graphs fuse_loss fuse_models fuse_msgs fuse_optimizers fuse_publishers fuse_tutorials fuse_variables fuse_viz |
|
Package Summary
Tags | No category tags. |
Version | 0.10.0 |
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 | 2024-09-19 |
Dev Status | MAINTAINED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
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 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)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
catkin | |
roslint | |
rostest | |
fuse_core | |
fuse_graphs | |
fuse_variables | |
geometry_msgs | |
pluginlib | |
roscpp |