Moved the Variable class into the public fuse repo

LICENSE

@@ -0,0 +1,31 @@
+Software License Agreement (BSD License)
+
+Copyright (c) 2018, Locus Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,2 +1,3 @@
 # fuse
-The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
+The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications
+include state estimation, localization, mapping, and calibration.

fuse/CMakeLists.txt

@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(fuse)
+find_package(catkin REQUIRED)
+catkin_metapackage()

fuse/LICENSE

@@ -0,0 +1,31 @@
+Software License Agreement (BSD License)
+
+Copyright (c) 2018, Locus Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

fuse/README.md

@@ -0,0 +1,2 @@
+# fuse
+This is the metapackage for the entire fuse stack.

fuse/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>fuse</name>
+  <version>0.0.0</version>
+  <description>
+    The fuse metapackage
+  </description>
+
+  <maintainer email="[email protected]">Stephen Williams</maintainer>
+  <author email="[email protected]">Stephen Williams</author>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>fuse_core</exec_depend>
+
+  <export>
+    <metapackage />
+  </export>
+</package>

fuse_core/CMakeLists.txt

@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(fuse_core)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+)
+find_package(Boost REQUIRED)
+find_package(Ceres REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+    ${CERES_INCLUDE_DIRS}
+  LIBRARIES
+    ${PROJECT_NAME}
+    ${CERES_LIBRARIES}
+  CATKIN_DEPENDS
+    roscpp
+  DEPENDS
+    Boost
+)
+
+###########
+## Build ##
+###########
+
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++14;-Wall;-Werror")
+
+include_directories(
+  include
+  ${Boost_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  ${CERES_INCLUDE_DIRS}
+)
+
+## fuse_core library
+add_library(${PROJECT_NAME}
+  src/variable.cpp
+)
+add_dependencies(${PROJECT_NAME}
+  ${catkin_EXPORTED_TARGETS}
+)
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${CERES_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+if(CATKIN_ENABLE_TESTING)
+  # Lint tests
+  find_package(roslint REQUIRED)
+  set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references")
+  roslint_cpp()
+  roslint_add_test()
+endif()

fuse_core/LICENSE

@@ -0,0 +1,31 @@
+Software License Agreement (BSD License)
+
+Copyright (c) 2018, Locus Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

fuse_core/README.md

@@ -0,0 +1,25 @@
+# fuse_core
+This package provides the base class interfaces for the various fuse components. Concrete implementations of these
+interfaces are provided in other packages.
+
+## Variable
+Within the fuse system, a "variable" is a convenient group of one or more related scalar values. These scalars are
+treated as a block within the optimizer. If the variable is modeling a time-varying quatity, the an instance of the
+variable represents value of the state at one specific point in time. The fuse system maintains a history of variable
+instances, allowing measurements to involve previous states as well as the current state.
+
+When defining a new variable type, there is a balance that must be struct between reusability and convenience. If you
+define a complex composite state, it is unlikely that any other available components will use that same state
+definition. If you make the state too granular, then more book-keeping and value lookups will be required to piece
+together a useful concept from many smallar scalar components.
+
+As an example, let's consider a 3D pose consisting of a 3D position (x, y, z) and a quaternion orientation
+(qx, qy, qx, qw). We could define a single state for the 3D pose consisting of all 7 scalar components. Alternatively,
+we could define two variables types, a 3 dimension position vector and a 4 dimension quaternion. Or we could even
+define seven variable types, one for each dimension.
+
+Within the `fuse_core` package, no concrete variables are actually created. We only define the common interface to which
+all types must adhere. A set of common variable types are provided in the [`fuse_variables`](../fuse_variables)
+package. And new variable types can be created outside the fuse stack completely. However, similar to how using common
+ROS messages across nodes allow for code reuse, using common variable types will allow sensor models and motion models
+to be shared across the community.

fuse_core/include/fuse_core/macros.h

@@ -0,0 +1,135 @@
+// Copyright 2014 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/***************************************************************************
+ * This file has been modified from its original published source.
+ * https://raw.githubusercontent.com/ros2/rclcpp/master/rclcpp/include/rclcpp/macros.hpp
+ * Modifications are provided under the BSD license.
+ ***************************************************************************/
+
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018, Locus Robotics
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef FUSE_CORE_MACROS_H
+#define FUSE_CORE_MACROS_H
+
+#include <memory>
+
+/**
+ * Defines aliases and static functions for using the Class with smart pointers.
+ *
+ * Use in the public section of the class.
+ */
+#define SMART_PTR_DEFINITIONS(...) \
+  SHARED_PTR_DEFINITIONS(__VA_ARGS__) \
+  WEAK_PTR_DEFINITIONS(__VA_ARGS__) \
+  UNIQUE_PTR_DEFINITIONS(__VA_ARGS__)
+
+/**
+ * Defines aliases only for using the Class with smart pointers.
+ *
+ * Same as SMART_PTR_DEFINITIONS except it excludes the static
+ * method definitions which do not work on pure virtual classes and classes
+ * which are not CopyConstructable.
+ *
+ * Use in the public section of the class.
+ */
+#define SMART_PTR_ALIASES_ONLY(...) \
+  __SHARED_PTR_ALIAS(__VA_ARGS__) \
+  __WEAK_PTR_ALIAS(__VA_ARGS__) \
+  __UNIQUE_PTR_ALIAS(__VA_ARGS__)
+
+/// Defines aliases and static functions for using the Class with shared_ptrs.
+#define SHARED_PTR_DEFINITIONS(...) \
+  __SHARED_PTR_ALIAS(__VA_ARGS__) \
+  __MAKE_SHARED_DEFINITION(__VA_ARGS__)
+
+#define __SHARED_PTR_ALIAS(...) \
+  using SharedPtr = std::shared_ptr<__VA_ARGS__>; \
+  using ConstSharedPtr = std::shared_ptr<const __VA_ARGS__>;
+
+#define __MAKE_SHARED_DEFINITION(...) \
+  template<typename ... Args> \
+  static std::shared_ptr<__VA_ARGS__> \
+  make_shared(Args && ... args) \
+  { \
+    return std::make_shared<__VA_ARGS__>(std::forward<Args>(args) ...); \
+  }
+
+/// Defines aliases and static functions for using the Class with weak_ptrs.
+#define WEAK_PTR_DEFINITIONS(...) \
+  __WEAK_PTR_ALIAS(__VA_ARGS__)
+
+#define __WEAK_PTR_ALIAS(...) \
+  using WeakPtr = std::weak_ptr<__VA_ARGS__>; \
+  using ConstWeakPtr = std::weak_ptr<const __VA_ARGS__>;
+
+/// Defines aliases and static functions for using the Class with unique_ptrs.
+#define UNIQUE_PTR_DEFINITIONS(...) \
+  __UNIQUE_PTR_ALIAS(__VA_ARGS__) \
+  __MAKE_UNIQUE_DEFINITION(__VA_ARGS__)
+
+#define __UNIQUE_PTR_ALIAS(...) \
+  using UniquePtr = std::unique_ptr<__VA_ARGS__>;
+
+#if __cplusplus >= 201402L
+  #define __MAKE_UNIQUE_DEFINITION(...) \
+  template<typename ... Args> \
+  static std::unique_ptr<__VA_ARGS__> \
+  make_unique(Args && ... args) \
+  { \
+    return std::make_unique<__VA_ARGS__>(std::forward<Args>(args) ...); \
+  }
+#else
+  #define __MAKE_UNIQUE_DEFINITION(...) \
+  template<typename ... Args> \
+  static std::unique_ptr<__VA_ARGS__> \
+  make_unique(Args && ... args) \
+  { \
+    return std::unique_ptr<__VA_ARGS__>(new __VA_ARGS__(std::forward<Args>(args) ...)); \
+  }
+#endif
+
+#endif  // FUSE_CORE_MACROS_H