Changelog¶

Unreleased ¶

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

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.

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.

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

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.

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

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