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| Original file line number | Diff line number | Diff line change |
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| Changelog for package msf_core | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
|
|
||
| Forthcoming | ||
| ----------- | ||
| * fixed glog find script to find glog on osx | ||
| * removed -Werror flag since recent boost versions spit out a warning about deprecated boost::signals | ||
| * Fixed glog exporetd linker flags. Ubuntu 12.04 users will have to install glog from source. | ||
| * Add replacement for Glog | ||
| * Split similarity transform tests into separate test cases | ||
| * Adding unit test similarity transform | ||
| * stricter compiler warning settings and Werror | ||
| * Changes for compatibility with gcc4.6 on the build server | ||
| * fixed matrix block reference issue and corrected formatting | ||
| * added publishers for covariances | ||
| -added DaoubleMatrixStamped message | ||
| -publishers for core state covariance, aux state covariance, and core-aux cross-cov | ||
| -extended state definition and counters for core error state counting | ||
| * cast nError States for dynamic size matrices | ||
| * changed dyn size measurement base apply correction | ||
| * added options to statevar | ||
| * added msg dropout watchdogs and increase queuesizes. can process 750Hz | ||
| IMU, 450Hz vision and 150Hz GPS without dropouts. | ||
| * added gps and changed pointwCov | ||
| * correct state timestamps for published states | ||
| * the position-pose sensor still needs debugging for the initial values. | ||
| * compiles -Wall -Wextra -pedantic without warnings | ||
| * changed imu->cam calibration indices to fit the new imu-centered | ||
| notation. changed world->vision drift to fit the new world-centered | ||
| notation | ||
| * changed position world vision offset to correct notation and adjusted | ||
| indices | ||
| * removed all -O2 from child directories, so we can control the build type | ||
| from the top dir. Ros Release build types are anyway O2 | ||
| * fix bug nonclean reset, caused by dirty state of fuzzytracking checker | ||
| * fixed q_vw pose sensor bug | ||
| * moved tests | ||
| * wait for thread sync on init | ||
| * reorganized all parameters | ||
| * another switch for cov image publishing | ||
| * compile time disable cov image pub | ||
| * vision-gps sensor draft | ||
| * added warning on no meas applied | ||
| * Merge branch 'master_eval' into sc | ||
| Conflicts: | ||
| msf_updates/src/pose_msf/pose_sensormanager.h | ||
| * the falsecolor code | ||
| * finally got the Matlab jet colormap working, what a pain | ||
| * renamed msf_tools | ||
| * file renames, moved falsecolor to lib | ||
| * added a matlab - jet like colormap and using that in msf_core now | ||
| * added clear cross cov on state fix, will do pseudo meas later as a | ||
| better solution | ||
| * added cov image publisher | ||
| * SC seems to be working, needs comparison with absolute meas and some | ||
| optimization in apply-corr-relative | ||
| * evalparams | ||
| * params | ||
| * added asctec imu callback and moved imu processing to new function, so | ||
| that it can be called from multiple cbs | ||
| * Merge branch 'master' of [email protected]:ethz-asl/sensor_fusion.git | ||
| * dropping measurements that are earlier than the first state in the | ||
| buffer. (vicon meas with delay) | ||
| * Merge branch 'master' of [email protected]:ethz-asl/sensor_fusion.git | ||
| * added yet another check for data playback being on and the EXTEKF | ||
| having subscribers | ||
| * ext EKF fix bug no publish on state nan check | ||
| * changed fuzzytracking interface | ||
| * added checks on state before publishing to EXT EKF | ||
| * Merge branch 'master' of [email protected]:ethz-asl/sensor_fusion.git | ||
| Conflicts: | ||
| msf_core/include/msf_core/msf_tools.h | ||
| * added preparations for SC. Mainly sensor IDs for measurements | ||
| * moved humantime to cpp file and made a library; cmakelists and manifext adjusted accordingly | ||
| * changed def for median and timehuman | ||
| * and back .. removed inclusion | ||
| * added tools inclusion to fwds | ||
| * changed output indexing for state print | ||
| * another change to state print formatting | ||
| * minor change to state print formatting | ||
| * moved state echo after init to core | ||
| * added print function for state | ||
| * move P core init to impl | ||
| * added reset call in ctor | ||
| * default value for state visitor on state reset | ||
| * added std=c++0x to exports in manifest | ||
| * fixed include bug in msf_fwds.h | ||
| * made propagateState public | ||
| * added prediction check for same states and removed two warnings | ||
| * added specialization for getenumtype with index -1, which is needed for | ||
| nontempdrifting state index if non is actually defined | ||
| * made specialization checkfuzzy public | ||
| * moved fuzzy tracking to separate class, so that msf can be used without | ||
| nontemporal drifting state. | ||
| * removed -W-no-string-compare | ||
| * added Quaternion type and removed commented stuff | ||
| * made predictProcessCovariance public and removed unnecessary | ||
| Fd.setIdentity() | ||
| * minor reorganized header inclusions, removed ros calls in subdir cmake | ||
| files | ||
| * Fd Qd from member to local variable | ||
| * init pose sensor handler to zero/unit, minor changes to remove warnings | ||
| * Added warning if message throttling is on | ||
| * fixed the error that the hl-state messages where overwriting the | ||
| covariance of the init state if the after the init there was another | ||
| message arriving from the hl with the old state values. | ||
| * fixed timing issues when used with ext propagation. Now working with | ||
| pressure sensor and height init. | ||
| * changed correction index calculation to a new simpler to use meta | ||
| programming struct | ||
| * fixed some documentation | ||
| * moved pvw next to qvw in the state definition and adapted the plotting scripts | ||
| * added plot for both attitude and position vision-world drift | ||
| * added vision-world position drift state | ||
| * added a check for positive definite covariance matrix in pose sensor | ||
| * adding aslam config files, set frameid of published pose to /world | ||
| * minor change to saveguard the init procedure from other | ||
| threads applying measurements | ||
| * added additional checks for EKF reset in the add-measurements method | ||
| * minor | ||
| * small typename fix | ||
| * popping queue instead of clear | ||
| * resetting state buffer upon first external state insertion and echo of | ||
| the state buffer contents plus the return value from the hl | ||
| * added state echo and EKF panic on NaN in propagation | ||
| * added some more documentation | ||
| * removed Const typedefs and fixed affected files | ||
| * adapted similaritytransform to new typedefs | ||
| * added covariance block methods and tests | ||
| * added method to compute Xi matrix for quaternion multiplication | ||
| * added files for pose/scale initialization | ||
| * added additional safety checks for numeric problems, still with some init requests the initial state is containing some NaNs | ||
| * Merge branch 'modular_sensor_fusion' of github.com:ethz-asl/sensor_fusion into HEAD | ||
| * added measurement queue for cases where the propagation is not ready when a measurement arrives | ||
| * removed bug in sortedContainer to check for value at time if closest to time is requested. changed pressure sensor to queue measurements | ||
| * removed bug in pose pressure sensor, wrong sign of measurement matrix entry for pressure sensor. Still the delay compensation has some problems, spiking | ||
| * changed H matrix calculation for pressure sensor | ||
| * changed header file extensions to match ROS code style | ||
| * fixed a bug in the multi-sensor filter with state interpolation and | ||
| creation of new states at the time of the measurement. this might also | ||
| have fixed the multi-sensor filter fuzzy tracking, but not tested | ||
| * implemented linear state interpolation in cases where the closest state | ||
| is too far away from the measurement | ||
| * pressure sensor not working, fixed propagation infinite loop in applymeas of core | ||
| * changed enum values of the state and renamed state member variables. | ||
| Finished impl of pressure-pose sensor and refactored the header | ||
| organization of msf_statedef | ||
| * added static assertion checker for core state ordering in separate file, core is now completely free of state definitions | ||
| * moved state definition from core to msf_updates subdirs to be defined for every single sensor | ||
| * templated measurements with EKFState_T | ||
| * templated core classes to EKFState type | ||
| * changed namespace of statedef to msf_updates | ||
| * changed formatting to ros style file | ||
| * catching bad config with data playback now | ||
| * Merge branch 'modular_sensor_fusion' of github.com:ethz-asl/sensor_fusion into modular_sensor_fusion | ||
| * covariance propagation in state callback | ||
| * removed delay comment for dox | ||
| * dynamic reconfigure reoorganized, delay moved to measurement, works with tutorial dataset | ||
| * changed meas covariance bug, which was not setting the member variable, minor cleanup | ||
| * initial version of a pose sensor handler, with overloads for tf, pose, posewcov | ||
| * modified ext ekf size and working on pose sensor, but not finished | ||
| * remove libexport from msf_core | ||
| * added doxygen config and layout file and continued on the documentation | ||
| * minor chnages to the documentation and added EIGEN_MAKE_ALIGNED_OPERATOR_NEW to some classes | ||
| * modified the documentation to include more detailed tags for doxygen | ||
| * added documentation to all methods/classes/variables | ||
| * added option to use simulated core covariance and fixed diag. for aux states. Alternatively the user can still provide a full simulated cov. matrix as before | ||
| * changed stack descr. and removed some small parts in the code which were unused | ||
| * removed old code parts, removed debugging output and cleaned up. No functionality changes | ||
| * added a janitor which cleans the buffers if they contain states/meas older than some defined value | ||
| * msf working with vicon dataset. Giving the exact same results as ssf with the new infinite statebuffer | ||
| * still crashing with some init values. It seems that the selection of states for the update is not done correctly sometimes | ||
| * added liscense to all files. Debugging stateMap and measMap. Prediction ok, update not working so far | ||
| * fixed initialization to use a measurement object and removed the bug which was not returning the correct state close before a given timestamp if the statelist contained only one state | ||
| * added sorted Container for States and Measurements and completely replaced the ringBuffer for the State, compiling, but not tested | ||
| * on the way to implement the state_pqueue and meas_pqueue | ||
| * implemented SSF vicon filter, which gives same result as ssf_updates version | ||
| * moved and renamed measurements and measurement handler classes | ||
| * moved fuzzy tracking detection back to core and added compile time lookup for the best state to use as non temporal drifting state. | ||
| * const corrected all interfaces, made most accessors private, except those for aux states | ||
| * compiling and all ToDos done, initialization of the filter and the update part (from the sensor side) is still undone | ||
| * added some files that resulted from the reorganisation of some structure to allow fwds to work better | ||
| * changed the StateVar Type again to reflect the idea of having multiple types of statevars that are core/core with propagation or auxiliary. | ||
| * moved usercalculations to base class and state implementation to separate header, still not everything is implemented | ||
| * changed all state access functions, compiling, still got to implement correction and some other ToDos | ||
| * parametrized stateVar_T for propagation change and added more unit testing, still there are a lot of compiler errors | ||
| * still many injuries in the template war | ||
| * in the middle of a template war | ||
| * in the middle of a template war | ||
| * bugfix for startindex calculation caused by const ref types from boost::fusion::c_at type resolve. Added typetraits for qualifier stripping, adding | ||
| * finished changes to msf_state, now reflecting the full functionality of former 'state' class | ||
| * backup, state implementation not finished | ||
| * backup, state implementation not finished | ||
| * added gtest for all current compile time computations | ||
| * added another main header for msf_core | ||
| * replaced all Eigen::Vector3d with generic Eigen::Matrix type and removed double state_T | ||
| * bugfix calculation of start indices for a given state | ||
| * still a bug in the offset calculation, there is something added twice | ||
| * moved tmp and all other definitions to separate header files | ||
| * added compile time offset calculation for full state and correction vector. added static assertion checking correct ordering of the state and the enum | ||
| * added some first draft of the tmp test executable, still the offsets of the states in the correction and state vector are not clear | ||
| * renamed namespaces and headers to msf | ||
| * added gtest for all current compile time computations | ||
| * added another main header for msf_core | ||
| * replaced all Eigen::Vector3d with generic Eigen::Matrix type and removed double state_T | ||
| * bugfix calculation of start indices for a given state | ||
| * still a bug in the offset calculation, there is something added twice | ||
| * moved tmp and all other definitions to separate header files | ||
| * added compile time offset calculation for full state and correction vector. added static assertion checking correct ordering of the state and the enum | ||
| * added some first draft of the tmp test executable, still the offsets of the states in the correction and state vector are not clear | ||
| * renamed namespaces and headers to msf | ||
| 1.0.1 (2014-06-16) | ||
| ------------------ | ||
| * Initial release. | ||
| * Contributors: Markus Achtelik, Simon Lynen, asl, georgwi, markusachtelik, omaris, simonlynen, wueestm | ||
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