mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

• SearchablePoseList
• HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

Changelog for package mola_pose_list

3.2.0 (2026-08-21)

• Merge pull request #192 from MOLAorg/feat/map-frame-gauge-change Support re-expressing estimator and pose-list state in a new frame

• Merge remote-tracking branch 'origin/feat/map-frame-gauge-change' into feat/map-frame-gauge-change

• mola_kernel: declare transform_frame() last; test SearchablePoseList frame change Appending the new optional virtual only grows the vtable, whereas the previous mid-list position shifted the slot index of the three virtuals after it, breaking any prebuilt NavStateFilter plugin. A note asks that future optional virtuals also go at the end. Adds regression coverage for SearchablePoseList::transform_left_multiply() in both storage modes: that the kd-tree follows the transformed poses (verified to fail if the spatial index is left stale), that the empty and identity cases are no-ops, and that the id-keyed lookup survives.

• Merge branch 'develop' into feat/map-frame-gauge-change

• Support re-expressing estimator and pose-list state in a new frame Adds the two pieces a one-off gauge change of the map frame needs, so that leveling the frame once gravity is known does not have to throw state away:

  - NavStateFilter::transform_frame(), an optional virtual returning false by default, so existing estimators are unaffected and a caller that gets false falls back to reset(). Guarded by a feature macro for downstream detection.

  - SearchablePoseList::transform_left_multiply(), so keyframe-density bookkeeping moves with the frame instead of being invalidated by it. Both are pure left-multiplications, p -> b + p. Note that relative motion, and hence any velocity expressed in the vehicle's own frame, is invariant under this and must NOT be rotated.

• Contributors: Jose Luis Blanco-Claraco

3.1.1 (2026-08-10)

3.1.0 (2026-08-06)

• Merge pull request #187 from MOLAorg/feat/incremental-point-cloud-kdtree-bake Bake IncrementalPointCloud's k-d tree index (mm-ipc-bake-kdtree)
• changelog
• Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

2.9.0 (2026-05-11)

• Merge pull request #143 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
• bump min req cmake version to 3.22
• Contributors: Jose Luis Blanco-Claraco

2.8.0 (2026-04-29)

• Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

• feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

• Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

• fix: robustify edge cases from last API changes

• Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

• fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

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