What’s new

Below is a rendering of the CHANGELOG.md file.

Change Log

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

[Unreleased] – 2025-08-23

Added

  • RotationLifter: support to plot 2d frames, improved documentation for rotation conventions

  • RotationLifter: implemented rank-d (“bm”) lifting

  • RangeOnlyLifter: new landmark sampling methods to fill available space

  • Documentation instructions in CONTRIBUTING.md

  • Unit tests and notebook for RotationLifter

  • StateLifter: started support for rank-d instead of rank-1 formulations

  • Added more documentation and type hints

Changed

  • RangeOnlyLifter: default sampling for landmarks in RO is now the one filling space

  • RangeOnlyLifter: theta is sampled at least MIN_DIST away from landmarks

  • Always returning constraints matrices along with right-hand-side values

Fixed

  • Link fixes in documentation

[0.0.2] - 2025-06-04

Added

  • RangeOnlyLifter base class for 2D/3D range-only localization (base_lifters/range_only_lifter.py)

  • RangeOnlyNsqLifter: specialized lifter for range-only localization without squared distances (examples/ro_nsq_lifter.py)

  • RangeOnlySqLifter: specialized lifter for squared-distance-based range-only localization

  • GitHub Pages deployment step to documentation.yml using peaceiris/actions-gh-pages for automatic documentation publishing

Removed

  • docs/build/ files

Fixed

  • Corrected return type annotations in get_grad and get_hess methods in state_lifter.py from float to np.ndarray

  • Documentation of MonoLifter and WahbaLifter

[0.0.1] - 2025-05-25

This is the initial release of the toolbox. It is based on https://github.com/utiasASRL/constraint_learning and now included there as a submodule.