fuse_variables

This package provides a set of commonly used variable types, such as 2D and 3D positions, orientations, velocities, and accelerations.

Changelog for package fuse_variables

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
• Make 2D versions of the landmark variables (#250)
• [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)
• Add unstamped 3D point variable (#233) (#239)
  • Add unstamped 3D landmark variable

  * Add landmark test and new uuid generator Co-authored-by: Stephen Williams <<swilliams@locusrobotics.com>> Co-authored-by: Jake McLaughlin <<jake.mclaughlin98@gmail.com>>

• 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
• Make 2D versions of the landmark variables (#250)
• [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)
• Add unstamped 3D point variable (#233) (#239)
  • Add unstamped 3D landmark variable

  * Add landmark test and new uuid generator Co-authored-by: Stephen Williams <<swilliams@locusrobotics.com>> Co-authored-by: Jake McLaughlin <<jake.mclaughlin98@gmail.com>>

• 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
• Derive the fixed landmarks from the standard landmarks (#259)
• 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
• Make 2D versions of the landmark variables (#250)
• [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)
• Add unstamped 3D point variable (#233) (#239)
  • Add unstamped 3D landmark variable

  * Add landmark test and new uuid generator Co-authored-by: Stephen Williams <<swilliams@locusrobotics.com>> Co-authored-by: Jake McLaughlin <<jake.mclaughlin98@gmail.com>>

• Contributors: 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)

• 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
• Derive the fixed landmarks from the standard landmarks (#259)
• 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
• Make 2D versions of the landmark variables (#250)
• [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)
• Add unstamped 3D point variable (#233) (#239)
  • Add unstamped 3D landmark variable

  * Add landmark test and new uuid generator Co-authored-by: Stephen Williams <<swilliams@locusrobotics.com>> Co-authored-by: Jake McLaughlin <<jake.mclaughlin98@gmail.com>>

• Contributors: Gary Servin, Oscar Mendez, 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)

• 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
• fix compilation in Kinetic (#112)
• [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)
• Modified Variable class to make the UUID immutable (#55)
• The node handle in the loadDeviceId() function does not need to be mutable (#56)
• Fixed missing header. It was moved to a different package. (#49)
• [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

0.3.0 (2019-03-18)

0.2.0 (2019-01-16)

• [RST-1554] test depends (#30)
  • Refactored all CMakeLists.txt to avoid path issues when using workspace overlays
• Contributors: Stephen Williams

0.1.1 (2018-08-15)

• [RST-1121] Load device id from parameter server (#26)
  • Made a load function for getting the device id from the parameter server
• Contributors: Stephen Williams

0.1.0 (2018-08-12)

• [RST-1121] move optimizers (#25)
• [RST-1121] Moved the pose publishers (#19)
• Adding absolute 3d pose
• Adding 3D orientation constraints
• Contributors: Stephen Williams, Tom Moore

0.0.2 (2018-07-16)

• Added a base class for all stamped variables (#14)
• Added 3D variable types
• Removed fuse_variables default constructors (#5)
• Move the fuse_variables package into the public repo (#4)
• Contributors: Stephen Williams, Tom Moore

0.0.1 (2018-07-05)