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3D fuse models#354

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giafranchini wants to merge 123 commits intolocusrobotics:rollinglocusrobotics/fuse:rollingfrom giafranchini:models_3dgiafranchini/fuse:models_3dCopy head branch name to clipboard

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Commits on Jul 21, 2023

• humble branch

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  6878097

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Commits on Aug 4, 2023

• make composable optimizer nodes (dev)

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Commits on Aug 7, 2023

• batch and fixed lag optimizer as components

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Commits on Aug 23, 2023

• optimizer components refactor

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• undo optimizer.cpp changes

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Commits on Sep 25, 2023

• set precision 1e-4 to validatePartialMeasurement

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Commits on Oct 5, 2023

• new branch iron_unicycle3d

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Commits on Nov 3, 2023

• odometry 3d development

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• add normal_prior_pose_3d

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Commits on Nov 6, 2023

• odometry 3d with partial measurements development

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Commits on Nov 8, 2023

• clean up: removed euler constraints

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• 3D pose absolute and relative constraints with partial measure support

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• clean up: removed euler constraints plugin from cmake

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• Add support partial measurements for odometry 3D

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• imu 3D plugin dev

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Commits on Nov 14, 2023

• fix missing type() template specialization for vel 3d

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Commits on Nov 15, 2023

• add support for partial measurements in absolute_orientation_3d_stamped_constraint

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• fix: missing tf_timeout param

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• removed euler constraint headers

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• fix: wrong array mapping in unicycle 3d motion model + tests

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Commits on Nov 20, 2023

• Update README.md

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• Update typo in fuse_constraints/fuse_plugins.xml

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• Update typo in fuse_constraints/fuse_plugins.xml

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• Update typo in fuse_constraints/fuse_plugins.xml

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• Update typo in fuse_constraints/fuse_plugins.xml

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• Update fuse_constraints/fuse_plugins.xml

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• Update copyright fuse_constraints/include/fuse_constraints/normal_prior_pose_3d.hpp

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• Fix: removed double new line

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• Update copyright in fuse_constraints/src/normal_prior_pose_3d.cpp

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Commits on Nov 21, 2023

• Cleaning is_angular_3d method in sensor config

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• Revert "Cleaning is_angular_3d method in sensor config"

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Commits on Nov 28, 2023

• Fix: delta orientation cost function residuals static map

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  c1b1ede

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• Add independent param for pose delta

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  ae84092

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• Add test absolute pose 3d stamped constraint

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  1072fe4

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• unicycle 3d predict refactor + test

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• unicycle 3d cost functor refactor + test

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  d3e3c36

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• different handling for orient/vel variables in sensor config

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  c44aa4e

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• remove TODOs

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• abs and diff pose handling

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  bd30458

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Commits on Dec 5, 2023

• unicycle 3d tests + minor fixes

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Commits on Dec 14, 2023

• feature: quat2eul + jacobian

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• feature: unicycle 3d analytical derivatives

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• refactor: jacobian computation in predict function with eigen

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• feature: odometry_3d_publisher predict to current time

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Commits on Dec 20, 2023

• feature: quat2rpy and quat product jacobian

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• feature: add normal_prior_pose_3d

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• process only orientation for imu3d

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• feature: add normal_prior_orientation_3d

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  7a8cde8

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• fix: normal prior pose jacobian maps

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Commits on Dec 28, 2023

• dev: sensor_proc refactor

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  e9f1aa4

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Commits on Jan 2, 2024

• fix: typo in quat2rpy + tests

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• chore: cost_function_gtest support for quaternions

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Commits on Jan 3, 2024

• Merge branch 'iron_unicycle3d' into refactor/sensor_proc

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• Merge pull request #13 from giafranchini/refactor/sensor_proc

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Commits on Jan 4, 2024

• refactor: relative_pose_3d fixed size

  giafranchini

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• feature: relative_pose_3d_euler constraint

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• refactor: sensor_proc + models relative pose update

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  b2058a8

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Commits on Jan 5, 2024

• Fix: wrong fixed size sqrt_info in relatie euler cost functor + test

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Commits on Jan 8, 2024

• sensor_proc_3d tests

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Commits on Jan 10, 2024

• fix: wrong expected value in test absolutePose3DStampedEulerConstraint

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• Fix: imu3D getPositiveParam account for params namespace

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• fix tf2 conversion

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• Removed completed TODOs

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• Merge pull request #15 from giafranchini/refactor/relative_pose_processing

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Commits on Jan 11, 2024

• removed covariance_geometry dep from fuse_constraints

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• add missing absolute constraints and cleanup

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  3a8a14c

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• absolute orientation 3d cleanup

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  9014320

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• absolute pose 3d & 3d euler cleanup

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  c50296a

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• delta pose/orientation cost functor cleanup

  giafranchini

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  727afd1

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• Update normal_delta_pose_3d_cost_functor.hpp

  giafranchini

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• normal prior orientation 3d cleanup

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  339952f

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• normal prior orientation 3d cost functor cleanup

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• normal prior pose 3d cost functor cleanup

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  99c1055

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• normal prior pose 3d euler cost functor/function cleanup

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  ac54c93

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• relative pose 3d constraint cleanup

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  0e930cd

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• normal prior pose 3d cost function cleanup

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• fuse_constraints tests cleanup

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  4b554da

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• removed fuse_core::Quaternion alias

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• sensor_proc cleanup

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  73d9178

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• unicycle2D cleanup

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• unicycle2d state kinematic constraint cleanup

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• 3d models cleanup

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  e66dadb

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• Update optimizer.hpp

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• Update test_sensor_proc.cpp

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• removed utils.py

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• fuse optimizers cleanup

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• range_sensor_tutorial launch file cleanup

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• Update range_sensor_tutorial.launch.py

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• orientation_3d variable cleanup

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  0515c90

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• rename unicycle3d to omnidirectional3d

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• Merge pull request #16 from giafranchini/iron-omni3d

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Commits on Jan 16, 2024

• Merge pull request #17 from giafranchini/iron_models3d

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• update fuse.repos

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Commits on Jan 29, 2024

• feature: covariance variation check in processDifferentialPose3DWithCovariance

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Commits on Feb 1, 2024

• add some comments in sensor_proc

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• Merge pull request #19 from giafranchini/feature-covariance-check

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Commits on Mar 11, 2024

• revert composable optimizer

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• Update fuse_core/include/fuse_core/util.hpp

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• Update fuse_core/include/fuse_core/util.hpp

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• Tests for quat2rpy - quat product - quat2angleaxis jacobians

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• Remove comments in absolute_pose_3d_stamped_constraint.cpp

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• Add TODOs normal_prior_pose_3d.cpp

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• Add TODO to normal_prior_orientation_3d.cpp

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• Add single jacobian check in normal_prior_orientation_3d

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• Formalize comparisons in quaternion2rpy

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Commits on Sep 25, 2024

• Update fuse_models/include/fuse_models/omnidirectional_3d.hpp

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• Update fuse_models/include/fuse_models/omnidirectional_3d.hpp

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• Update fuse_models/include/fuse_models/omnidirectional_3d.hpp

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• Update fuse_models/include/fuse_models/omnidirectional_3d.hpp

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• fix typos

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• fix typo: quat instead of rpy

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Commits on Sep 26, 2024

• Fix wrong stride in linear acceleration covariance eigen map

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Commits on Oct 3, 2024

• fix omnidirectional_3d_ignition orientation init + tests

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  0e64676

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• add 3D tutorial (#27)

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• Fix wrong quaternion2angleaxis jacobian + test

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Commits on Oct 17, 2024

• remove summary print

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Commits on Oct 18, 2024

• Port support for Ceres 2.1.0 Manifold class into ROS 2 Rolling (locusrobotics#366)

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Commits on Oct 22, 2024

• uncrustify

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• test quaternionToAngleAxis for very small rotations

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• Merge branch 'rolling' into models_3d

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Commits on Oct 29, 2024

• fix typo omnidirectional_3d

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Commits on Nov 2, 2024

• Missing support for Ceres 2.1.0 Manifold in pose_3d constraint tests

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• add optional tolerance in ExpectCostFunctionsAreEqual

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