Code

3D fuse models#354

Code

Open

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

+13,280-53

Commits

Commits on Jul 21, 2023

• humble branch

  andreaostuni

  authored
  6878097

Commits on Aug 4, 2023

• make composable optimizer nodes (dev)

  giafranchini

  committed
  edb7d60

Commits on Aug 7, 2023

• batch and fixed lag optimizer as components

  giafranchini

  committed
  504a1c6

Commits on Aug 23, 2023

• optimizer components refactor

  giafranchini

  committed
  699b9d1

• undo optimizer.cpp changes

  giafranchini

  committed
  ce960ad

Commits on Sep 25, 2023

• set precision 1e-4 to validatePartialMeasurement

  giafranchini

  committed
  dce95d2

Commits on Oct 5, 2023

• new branch iron_unicycle3d

  giafranchini

  committed
  f33bc5d

Commits on Nov 3, 2023

• odometry 3d development

  giafranchini

  committed
  ddd06c2

• add normal_prior_pose_3d

  giafranchini

  committed
  9927ad0

Commits on Nov 6, 2023

• odometry 3d with partial measurements development

  giafranchini

  committed
  5a3df7b

Commits on Nov 8, 2023

• clean up: removed euler constraints

  giafranchini

  committed
  c065595

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

  giafranchini

  committed
  38cae76

• clean up: removed euler constraints plugin from cmake

  giafranchini

  committed
  5f037ce

• Add support partial measurements for odometry 3D

  giafranchini

  committed
  d846fff

• imu 3D plugin dev

  giafranchini

  committed
  052be96

Commits on Nov 14, 2023

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

  giafranchini

  committed
  ac1a0f8

Commits on Nov 15, 2023

• add support for partial measurements in absolute_orientation_3d_stamped_constraint

  giafranchini

  committed
  c516176

• fix: missing tf_timeout param

  giafranchini

  committed
  16f4c53

• removed euler constraint headers

  giafranchini

  committed
  5d4dd92

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

  giafranchini

  committed
  0c63c45

Commits on Nov 20, 2023

• Update README.md

  Show description for 3fb62bd
  

  giafranchini

  and

  roncapat

  authored
  3fb62bd

• Update typo in fuse_constraints/fuse_plugins.xml

  Show description for 10c0065
  

  giafranchini

  and

  roncapat

  authored
  10c0065

• Update typo in fuse_constraints/fuse_plugins.xml

  Show description for df856ca
  

  giafranchini

  and

  roncapat

  authored
  df856ca

• Update typo in fuse_constraints/fuse_plugins.xml

  Show description for 92a3a69
  

  giafranchini

  and

  roncapat

  authored
  92a3a69

• Update typo in fuse_constraints/fuse_plugins.xml

  Show description for 3fac148
  

  giafranchini

  and

  roncapat

  authored
  3fac148

• Update fuse_constraints/fuse_plugins.xml

  Show description for 211e0eb
  

  giafranchini

  and

  roncapat

  authored
  211e0eb

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

  Show description for 89656fb
  

  giafranchini

  and

  roncapat

  authored
  89656fb

• Fix: removed double new line

  Show description for 486336b
  

  giafranchini

  and

  roncapat

  authored
  486336b

• Update copyright in fuse_constraints/src/normal_prior_pose_3d.cpp

  Show description for a09db78
  

  giafranchini

  and

  roncapat

  authored
  a09db78

Commits on Nov 21, 2023

• Cleaning is_angular_3d method in sensor config

  giafranchini

  committed
  f6e78fb

• Revert "Cleaning is_angular_3d method in sensor config"

  Show description for c6a0daf
  giafranchini

  committed
  c6a0daf

Commits on Nov 28, 2023

• Fix: delta orientation cost function residuals static map

  giafranchini

  committed
  c1b1ede

• Add independent param for pose delta

  giafranchini

  committed
  ae84092

• Add test absolute pose 3d stamped constraint

  giafranchini

  committed
  1072fe4

• unicycle 3d predict refactor + test

  giafranchini

  committed
  55280dc

• unicycle 3d cost functor refactor + test

  giafranchini

  committed
  d3e3c36

• different handling for orient/vel variables in sensor config

  giafranchini

  committed
  c44aa4e

• remove TODOs

  giafranchini

  committed
  569d8ff

• abs and diff pose handling

  giafranchini

  committed
  bd30458

Commits on Dec 5, 2023

• unicycle 3d tests + minor fixes

  giafranchini

  committed
  04a984d

Commits on Dec 14, 2023

• feature: quat2eul + jacobian

  giafranchini

  committed
  e85eaa2

• feature: unicycle 3d analytical derivatives

  giafranchini

  committed
  ba5217d

• refactor: jacobian computation in predict function with eigen

  giafranchini

  committed
  4f7dff8

• feature: odometry_3d_publisher predict to current time

  giafranchini

  committed
  3959d76

Commits on Dec 20, 2023

• feature: quat2rpy and quat product jacobian

  giafranchini

  committed
  49d12a9

• feature: add normal_prior_pose_3d

  giafranchini

  committed
  5aa23b0

• process only orientation for imu3d

  giafranchini

  committed
  0ae0f4c

• feature: add normal_prior_orientation_3d

  giafranchini

  committed
  7a8cde8

• fix: normal prior pose jacobian maps

  giafranchini

  committed
  00ecb7e

Commits on Dec 28, 2023

• dev: sensor_proc refactor

  giafranchini

  committed
  e9f1aa4

Commits on Jan 2, 2024

• fix: typo in quat2rpy + tests

  giafranchini

  committed
  017242a

• chore: cost_function_gtest support for quaternions

  giafranchini

  committed
  436652d

Commits on Jan 3, 2024

• Merge branch 'iron_unicycle3d' into refactor/sensor_proc

  giafranchini

  authored
  336b974

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

  Show description for 186a6e1
  giafranchini

  authored
  186a6e1

Commits on Jan 4, 2024

• refactor: relative_pose_3d fixed size

  giafranchini

  committed
  7f9bb01

• feature: relative_pose_3d_euler constraint

  giafranchini

  committed
  60a8363

• refactor: sensor_proc + models relative pose update

  giafranchini

  committed
  b2058a8

Commits on Jan 5, 2024

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

  giafranchini

  committed
  7191974

Commits on Jan 8, 2024

• sensor_proc_3d tests

  giafranchini

  committed
  3d78b1a

Commits on Jan 10, 2024

• fix: wrong expected value in test absolutePose3DStampedEulerConstraint

  giafranchini

  committed
  d710b35

• Fix: imu3D getPositiveParam account for params namespace

  giafranchini

  committed
  22190e8

• fix tf2 conversion

  giafranchini

  committed
  ff3ecff

• Removed completed TODOs

  giafranchini

  committed
  5a33b9f

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

  Show description for e7c74ce
  giafranchini

  authored
  e7c74ce

Commits on Jan 11, 2024

• removed covariance_geometry dep from fuse_constraints

  giafranchini

  committed
  a7abf32

• add missing absolute constraints and cleanup

  giafranchini

  committed
  3a8a14c

• absolute orientation 3d cleanup

  giafranchini

  committed
  9014320

• absolute pose 3d & 3d euler cleanup

  giafranchini

  committed
  c50296a

• delta pose/orientation cost functor cleanup

  giafranchini

  committed
  727afd1

• Update normal_delta_pose_3d_cost_functor.hpp

  giafranchini

  authored
  656d306

• normal prior orientation 3d cleanup

  giafranchini

  committed
  339952f

• normal prior orientation 3d cost functor cleanup

  giafranchini

  committed
  34ecebb

• normal prior pose 3d cost functor cleanup

  giafranchini

  committed
  99c1055

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

  giafranchini

  committed
  ac54c93

• relative pose 3d constraint cleanup

  giafranchini

  committed
  0e930cd

• normal prior pose 3d cost function cleanup

  giafranchini

  committed
  7073ae7

• fuse_constraints tests cleanup

  giafranchini

  committed
  4b554da

• removed fuse_core::Quaternion alias

  giafranchini

  committed
  666d6bc

• sensor_proc cleanup

  giafranchini

  committed
  73d9178

• unicycle2D cleanup

  giafranchini

  committed
  23d5773

• unicycle2d state kinematic constraint cleanup

  giafranchini

  committed
  1353917

• 3d models cleanup

  giafranchini

  committed
  e66dadb

• Update optimizer.hpp

  giafranchini

  authored
  b104d77

• Update test_sensor_proc.cpp

  giafranchini

  authored
  7a2a338

• removed utils.py

  giafranchini

  committed
  4366749

• fuse optimizers cleanup

  giafranchini

  committed
  34a3ab3

• range_sensor_tutorial launch file cleanup

  giafranchini

  committed
  235bd94

• Update range_sensor_tutorial.launch.py

  giafranchini

  authored
  238b7d4

• orientation_3d variable cleanup

  giafranchini

  committed
  0515c90

• rename unicycle3d to omnidirectional3d

  giafranchini

  committed
  72ff6a9

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

  Show description for 40f7645
  giafranchini

  authored
  40f7645

Commits on Jan 16, 2024

• Merge pull request #17 from giafranchini/iron_models3d

  Show description for ae23ab8
  giafranchini

  authored
  ae23ab8

• update fuse.repos

  giafranchini

  committed
  4ee3981

Commits on Jan 29, 2024

• feature: covariance variation check in processDifferentialPose3DWithCovariance

  giafranchini

  committed
  ca7e435

Commits on Feb 1, 2024

• add some comments in sensor_proc

  giafranchini

  committed
  3b36fe4

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

  Show description for 228dbd6
  giafranchini

  authored
  228dbd6

Commits on Mar 11, 2024

• revert composable optimizer

  giafranchini

  committed
  0b44b7a

• Update fuse_core/include/fuse_core/util.hpp

  Show description for 88204cd
  

  giafranchini

  and

  svwilliams

  authored
  88204cd

• Update fuse_core/include/fuse_core/util.hpp

  Show description for 0878114
  

  giafranchini

  and

  svwilliams

  authored
  0878114

• Tests for quat2rpy - quat product - quat2angleaxis jacobians

  giafranchini

  committed
  ee059b6

• Remove comments in absolute_pose_3d_stamped_constraint.cpp

  giafranchini

  authored
  69344a1

• Add TODOs normal_prior_pose_3d.cpp

  giafranchini

  authored
  8a5b97c

• Add TODO to normal_prior_orientation_3d.cpp

  giafranchini

  authored
  a8c4d7b

• Add single jacobian check in normal_prior_orientation_3d

  giafranchini

  committed
  cba0a03

• Formalize comparisons in quaternion2rpy

  giafranchini

  committed
  90ded4b

Commits on Sep 25, 2024

• Update fuse_models/include/fuse_models/omnidirectional_3d.hpp

  Show description for 0376050
  

  giafranchini

  and

  henrygerardmoore

  authored
  0376050

• Update fuse_models/include/fuse_models/omnidirectional_3d.hpp

  Show description for 05bc6a3
  

  giafranchini

  and

  henrygerardmoore

  authored
  05bc6a3

• Update fuse_models/include/fuse_models/omnidirectional_3d.hpp

  Show description for e729204
  

  giafranchini

  and

  henrygerardmoore

  authored
  e729204

• Update fuse_models/include/fuse_models/omnidirectional_3d.hpp

  Show description for 80aec70
  

  giafranchini

  and

  henrygerardmoore

  authored
  80aec70

• fix typos

  giafranchini

  committed
  d26d91f

• fix typo: quat instead of rpy

  giafranchini

  committed
  4689930

Commits on Sep 26, 2024

• Fix wrong stride in linear acceleration covariance eigen map

  Show description for 05a35c2
  

  giafranchini

  and

  henrygerardmoore

  authored
  05a35c2

Commits on Oct 3, 2024

• fix omnidirectional_3d_ignition orientation init + tests

  giafranchini

  committed
  0e64676

• add 3D tutorial (#27)

  henrygerardmoore

  authored
  7475196

• Fix wrong quaternion2angleaxis jacobian + test

  giafranchini

  committed
  ec62d42

Commits on Oct 17, 2024

• remove summary print

  giafranchini

  committed
  491fda4

Commits on Oct 18, 2024

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

  Show description for e27f6f8
  

  svwilliams

  authored and

  giafranchini

  committed
  e27f6f8

Commits on Oct 22, 2024

• uncrustify

  giafranchini

  committed
  b21c169

• test quaternionToAngleAxis for very small rotations

  giafranchini

  committed
  43c5833

• Merge branch 'rolling' into models_3d

  giafranchini

  authored
  1dbd922

Commits on Oct 29, 2024

• fix typo omnidirectional_3d

  Show description for 1383744
  

  giafranchini

  and

  henrygerardmoore

  authored
  1383744

Commits on Nov 2, 2024

• Missing support for Ceres 2.1.0 Manifold in pose_3d constraint tests

  giafranchini

  committed
  568decf

• add optional tolerance in ExpectCostFunctionsAreEqual

  giafranchini

  committed
  720eaf0