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Feature/lifelong compression#2

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kmilo7204 wants to merge 83 commits intofoxy-develekumenlabs/slam_toolbox:foxy-develfrom feature/lifelong_compressionekumenlabs/slam_toolbox:feature/lifelong_compressionCopy head branch name to clipboard

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Commits

Commits on Oct 22, 2021

• [DOC]: Initial commit and loop for grid calculation

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Commits on Oct 25, 2021

• [WIP]: Initial test for gris position mapping

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Commits on Oct 26, 2021

• [WIP]: Adding new functions for ray tracing, and probability calculation

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Commits on Oct 28, 2021

• [WIP]: Adding tools for measuring distances to cells

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Commits on Oct 29, 2021

• [WIP]: Updating function to calculate intersection of beams and cells

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Commits on Nov 2, 2021

• [WIP]: Cleaning comments

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• [FIX]: Adding last cell to the calculation so we get the whole distance

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• [WIP]: Distance to each cell is being calculated. This is not working on all quadrants

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Commits on Nov 3, 2021

• [ADD]: Probabilities calculation

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Commits on Nov 4, 2021

• [FIX]: RBT transformation for getting the final point

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Commits on Nov 5, 2021

• [FEAT]: Finally getting the cutting points to each individual cell

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• [FIX]: Probability function update

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Commits on Nov 8, 2021

• [WIP]: Probability calculation is reliable

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Commits on Nov 10, 2021

• [WIP]: Adding inverseModel function to detect cell occupancy, adding functions for updating cell probability and cells logs

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• [WIP]: Logs calculation

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• [WIP]: Getting probability from log-odds

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Commits on Nov 11, 2021

• [WIP]: Adding map entropy calculation

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Commits on Nov 22, 2021

• [ADD]: Adding algorithm 1 base, it is in adaptation process

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Commits on Nov 23, 2021

• [ADD]: Algorithm 1 MVP (Currently working), but testing is required

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Commits on Nov 29, 2021

• [WIP]: Algorithm 1 completed. Adding now new poses and scans

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• [WIP]: Adding conditions for some cells. New intersections are handled with this logic

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Commits on Nov 30, 2021

• [FIX]: Handling cells seen by Bresenham but without intersections

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• [WIP]: Final adjustments

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Commits on Dec 7, 2021

• [ADD]: Adding measurement outcome entropy (3.12) calculation

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Commits on Dec 9, 2021

• [ADD]: Map mutual information calculation and code structure, it is way clear now comparing to the last modification.

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Commits on Dec 10, 2021

• [WIP]: Adding new robot pose for mutual information verification

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• [WIP]> Notations and calculations improvements

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Commits on Dec 14, 2021

• [ADD]: New theoretical information object

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Commits on Dec 15, 2021

• [WIP]: Completing theoretical information object

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• [WIP]: Completing theoretical information object, removing old code and adding metric for repeated measurements

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• [RMV]: Removing unused dependencies

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Commits on Dec 16, 2021

• [FIX]: Floating point absolute value changed in cell limits

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Commits on Dec 17, 2021

• [WIP]: Changes in measurement outcomes computations and code structure

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Commits on Dec 20, 2021

• [WIP]: Functions reordering to improve readability

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Commits on Dec 21, 2021

• [WIP]: Adding new functions for readability

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Commits on Dec 22, 2021

• [WIP]: Changes in algorithm 1

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Commits on Dec 23, 2021

• [WIP]: Function return values modifications to match Karto

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Commits on Dec 27, 2021

• [WIP]: Integration of new elements

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Commits on Dec 28, 2021

• [WIP]: Replacing data types from double to kt_double

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• [WIP]: Functions modification. At this point we now have an utils file (Not added yet)

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• [ADD]: Adding utils namespace

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Commits on Dec 29, 2021

• [INT]: Utils integration

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• [WIP]: Changing main function arguments

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Commits on Dec 30, 2021

• [WIP]: More modification to make the code clear

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Commits on Dec 31, 2021

• [ADD]: Eigen addition and matrix replacement

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Commits on Jan 4, 2022

• [DOC]: Adding code documentation

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Commits on Jan 7, 2022

• [ADD]: Adding basic test logic

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Commits on Jan 8, 2022

• [ADD]: Adding tests for Information Estimates and Utils

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Commits on Jan 10, 2022

• [WIP]: Adding more test cases

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Commits on Jan 12, 2022

• [WIP]: Tests updating

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Commits on Jan 13, 2022

• [WIP]: Renaming functions, updating tests and replacing some data structures

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Commits on Jan 19, 2022

• [WIP]: Updating mutual information calculation

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Commits on Jan 20, 2022

• [WIP]: Removing unused code

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Commits on Jan 23, 2022

• [ADD]: Function for mutual information calculation

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Commits on Feb 10, 2022

• [WIP]: Dynamic grid resizing

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• [RMV]: Unused function and adding transformations

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Commits on Feb 21, 2022

• [WIP]: Returning values modification

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• [WIP]: Replacing vectors for karto wrappers

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• [WIP]: Comparing probabilities from the same scans

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Commits on Mar 6, 2022

• [WIP]: Integration to lifelong mapping loop

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Commits on Apr 2, 2022

• [ADD]: New logic for Algrotihm 1 implementation

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• [RMV]: Removing basic functions

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Commits on Jun 23, 2022

• [ADD]: Adding base logic for new loop calculation

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Commits on Aug 2, 2022

• [WIP]: First complete pass on the new function

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Commits on Sep 9, 2022

• [ADD]: Adding cell angle functionality. Still under testing

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Commits on Oct 11, 2022

• [WIP]: Calculations up to entropy are now correct

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Commits on Oct 18, 2022

• Fully functional loop

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Commits on Oct 21, 2022

• Complete main function update

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Commits on Oct 24, 2022

• Checkpoint for code refactoring

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Commits on Oct 26, 2022

• Add new function for separaitng the jobs

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Commits on Oct 31, 2022

• Code refactoring phase 1

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• Remove undesired folders

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Commits on Nov 4, 2022

• Updating test for mutual information

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Commits on Nov 8, 2022

• [ADD]: Test cases

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Commits on Nov 14, 2022

• Improving redability, addition of segment and box structures, adding optional return values for some functions

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Commits on Dec 10, 2022

• [RMV]: Revert test changes in the main file

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• [UPDT]: Update C++ STD version to use optional function

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• [WIP]: Structures modification to simplify readability

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• [RMV]: Reverting changes in main file

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• [WIP]: Remove not necessary PI addition to cell angle

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Commits on Dec 12, 2022

• [ADD]: Addition of new map dimensions structures to improve readability

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• [WIP]: Typedef for probaility map

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Commits on Dec 13, 2022

• [WIP]: Updating exponential distribution rate and deleting unused attributes

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