v2.0

Release of Version 2.0

This is not only the initial release for RA-L and ICRA 2021, it is also a huge feature-rich update.

New Features

• marginalization for the factor graph class
• a new IMU pre-integration factor
• an odometry integration factor
• relative pose factors for 2D and 3D
• a barometric pressure factor
• maximum-a-posteriori EM for GMM estimation with priors
• a new auto-initialization function for various factors
• introduction of tests to ensure a minimum level of quality

Bugfixes & Improvements

• fixes for the multivariate versions of multiple GMM estimation algorithms
• many small fixes for various geometric transformations
• much more documentation than before

v1.1.0

Release of Version 1.1.0

• Initial release for IV 2019
• Added the incrementally variational mixture algorithm

v1.0.0

Release of Version 1.0.0

• Initial release for ICRA 2019