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CHANGELOG.md

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Changelog

Unreleased

New features

  • dynamic module with heap-allocated, dynamically-composable Proxy expressions
  • estimation module with uncertain objects and noise models
  • N-ary expressions
  • Point expressions representing true 3D affine points. Unlike translations, points cannot be added or scaled.
  • Documentation built with Sphinx

Backward-incompatible API changes

  • C++17 is now required
  • Boost 1.58 is now required
  • CMake 3.8 is now required
  • Changed selection of storage types from expression types. (Described in docs under "Storage and auto")
  • CompactRigidTransform stored as separate quaternion and vector instead of 7-vector. Changed template parameters.

Fixes and minor changes

  • Fixed finding googletest source package on Ubuntu bionic
  • Fixed (trivial) reverse-mode AD on a single leaf
  • Moved numerical Jacobian evaluator into core module
  • Reorganized and renamed storage base classes
  • .translation() and .rotation() methods work on all transform expressions (not just leaves)
  • Faster exponential map to quaternions
  • Subtract expression represents subtraction, replacing combination of sum and negation.
  • Improved error message on trying to construct a Framed object from a mismatching expression.

0.3.0 (2018-08-19)

New features

  • Scalar multiplication (scalar*vector, vector*scalar, and vector/scalar)
  • Differentiable arithmetic operations on scalar expressions (e.g. ```v1.norm() + v2.norm()`)
  • The library can be installed and used via CMake
  • The library can be built as a submodule of libwave
  • Automated CI builds

Deprecated support

  • C++11 support is deprecated. The next release will use C++17.
  • Eigen 3.2.92 (3.3-beta2) is not officially supported. It works as of this release, but only 3.3.2 is tested in CI.

Fixes and minor changes

  • Expressions can be differentiated w.r.t. their stored contents (e.g. auto expr = v * 2; expr.jacobian(expr.rhs()))
  • CMake handling of dependencies improved
  • Minor bug and compiler warning fixes

0.2.0 (2018-05-04)

Initial public release. Previously, wave_geometry was under development as a library called lkinematics.