change.txt

YEAR-MONTH-DAY

---------------------------------------------
Date    : 2025-XX-XX
Version : 0.27.4

ConvertRotation3D_F64
- Added another method for converting rodrigues 3-dof into quaternion
- Added another formula for converting quaternion to rotation matrix
GeometryMath
- Support for implicit 3x4 and 4x4 from 3x3 matrices for homogeneous points
- Added multTran for homogeneous points
- homogenous point multiplication supports the same instance being passed in
Quaternion
- Added norm()

---------------------------------------------
Date    : 2024-Oct-05
Version : 0.27.3

- Updated DDogleg version

---------------------------------------------
Date    : 2024-Sep-06
Version : 0.27.2

- ConvertRotation3D
  * Supports rodrigues encoded as a vector
- PointCloudToNormals
  * It can now compute the normals from a different of set of points than the cloud

---------------------------------------------
Date    : 2024-May-14
Version : 0.27.1

- Intersection2D
  * Added: (line segment, rectangle)
- LineSegment3D
  * Added pointOnLine()

---------------------------------------------
Date    : 2024-Feb-24
Version : 0.27.0

- Added RobustFittingOps to make robust fitting of shapes easier.
  * Supports plane and cylinders for now.
- Added method for estimating surface normals on a point cloud
- Shape fitting using points with surface normals
  * Plane and Cylinder
- Added ShapeFittingRobustOps
  * Easy interface for using standard robust algorithms to fit points to shapes
- InvertibleTransform
  * Added concatInvert
  * Se3 supports concatInvert natively

---------------------------------------------
Date    : 2023-Nov-05
Version : 0.26.3

- GeoTuple
 * Provided setTo() where you can assign it from a lower dimension
- AreaIntersectionPolygon2D_F64
 * Now recycles memory when possible

---------------------------------------------
Date    : 2023-Sep-24
Version : 0.26.2

- LineSegment2D
  * Added pointOnLine functions
- AverageRotationMatrix
  * Quality of life improvements

---------------------------------------------
Date    : 2023-May-15
Version : 0.26.1

- GeoRegressionVersion is generated again

---------------------------------------------
Date    : 2023-May-15
Version : 0.26

- Point
 * Proper implementation of setTo()
- GeoTuple3D
 * Added plus(alpha, point)
- GeoTuple_F64
 * Added isNaN() and isInfinite()
 * Note was already in some specific implementations
- Rectangle2D (all types)
 * getCorner()
- UtilPolygons2D
 * Added bound(poly, rect int)

---------------------------------------------
Date    : 2023-Feb-15
Version : 0.25.2

- Updated DDogleg Version

---------------------------------------------
Date    : 2022-Sep-01
Version : 0.25

- Build
 * Minimum version of Java is now 11. Was 8.
 * Built using Java 17
 * Added Lombok
 * Starting to standardize formatting
- zero() added to many geometric primitives
 * Zeros out all fields, typically this is the initial state
- setTo() should now return a reference to 'this'
- UtilAngle
 * Fixed minus(). Incorrectly handled wrapping. Kinda embarrassing this wasn't found earlier
- SePointOps
 * transformReverse for 3D homogenous coordinates
- InvertibleTransform
 * added invertConcat() which implicitly inverts 'this' before performing concatenation
 * SE3 added specialized implementation of invertConcat()
- ConvertRotation3D
 * Fixed edge case with matrixToRodrigues()

---------------------------------------------
Date    : 2021-Jul-09
Version : 0.24

- UtilPoint2D
  * Added findClosestIdx()
- UtilPoint3D
  * Added findClosestIdx()
- SePointOps
  * Added expanded versions of transform for homogenous 3D coordinates
- Vector3D
  * Refactored cross functions to make their behavior more obvious
  * Added new dot() variant
- Intersection2D
  * Added intersection of many points to a homogenous point
- ClosestPoint3D
  * Two line intersection in homogenous coordinates
- GeometryMath
  * Unrolled innerProd() functions that were creating new matrices internally
- Added support for Special Orthogonal 3 (SO3)
  * Fit SO3 to two point clouds

---------------------------------------------
Date    : 2020-Dec-19
Version : 0.23

- Build
  * Static checks with Error Prone and NullAway
  * Upgraded to 'maven-publish'
- Refactoring
  * Changed set() into setTo() for more structures
- Area2D
  * Includes functions for intersection-over-union a common quality of fit measure
- Intersection2D
  * Added containsConvex2() which includes points that lie along the border.
- Iterative Closest Point (ICP)
  * Fits 2D and 3D point clouds
  * Moved over from Project BUBO
- Added FitPolygon2D and FitPolygon3D
  * Fit AABB for 2D and 3D
  * Fit convex hull for 2D
- UtilPolygon2D
  * isSimple()
  * triangulate()

---------------------------------------------
Date    : 2020-May-19
Version : 0.22

- Java 11 syntax
- Upgraded JUnit
- SePointOps.transform( 4D ) fixed/added
- GeoTuple4D
  * Added distance(x,y,z,w)
- GeoTuple2D
  * Added isNaN()
- Flushed out GeoTuple2D_I32 more and added more functionality to its children
- Updated for DDogleg's FastAccess, FastArray, and DogArray
- Fixed bug in MotionSe3PointSVD where it threw an exception instead of returning false

---------------------------------------------
Date    : 2019-Dec-23
Version : 0.21

- UtilLine2D
  * define a line from a point and angle
- UtilAngle
  * Added functions which can take in unbounded angles
  * Added average of two angles
- Intersection2D
  * Intersection of two rays
- ConvertFloatType
  * LineSegment2D and LineSegment3D
  * LinePolar2D

---------------------------------------------
Date    : 2019/07/02
Version : 0.20

- GeometryMath
  * mult(4x4,4,4)
- Fit parametric line using linear equation

---------------------------------------------
Date    : 2019/03/14
Version : 0.19

- SE3 applied to homogneous points
- Added Hash Codes
  * Requested by Nico Stuurman
  * Points, Vectors, and Planes
- Added cubic curve and fitting algorithm
- UtilPoint2D
  * Compute 2D normal distribution
  * Generate 2D normal distribution

---------------------------------------------
Date    : 2018/12/26
Version : 0.18

- upgraded gradle wrapper
- Fixed SpecialOrthogonalOps
- Created UtilPoint4D_F64
- GeometryMath
  * Added mult cross transpose functions
- Added equals()
  * Line data structures
- Distance2D
  * Fixed numerical overflow in line distance. Thanks Charlie Hayes for pointing out this problem.

---------------------------------------------
Date    : 2018/10/15
Version : 0.17

- Vector3D
  * Normalized rewritten to avoid numerical overflow
- Se3
  * convience functions added for heavily used operations
- UtilPoint3D and 2D
  * New function for adding noise
  * Randomly generate points on a plane in 3D
- SpecialEuclideanOps_F64
  * Added bestFit()

---------------------------------------------
Date    : 2018/05/20
Version : 0.16

- Polygon2D
  * functions to convert to and from a list
  * Flushed out I32 functions more
  * function for removing adjacent points which are duplicates
- Quadrilateral2D
  * functions to convert to and from a list
- Added curves and fitting routines
  * Moved ellipses into curves
  * Quadratic
  * Parabola
  * Conic
- GeometryMath
  * improved addMult so that you can pass in the same point more than once
  * added addMultTrans
- Autocode
  * move into it's own module
- Point2D
  * <= is used now instead of < for equality
- Added GeoRegressionVersion file

---------------------------------------------
Date    : 2018/01/17
Version : 0.15

- Distance2D
  * Added distance(x,y) to Point2D_I32
  * Added distance(line,poing) I32
  * Added distanceSq(line,x,y)
- Added equals() support to the following
  * GeoTuple
  * Rectangle2D
- Polygons 2D
  * Added bounding rectangle
  * Area of intersection between two
- BoxLength3D
  * added getCorner()

---------------------------------------------
Date    : 2017/10/12
Version : 0.14

- Updated for changes in EJML
- Added I32 line fit 2D code
- UtilVector3D
  * Added perpendicularCanonical()
- UtilPlane3D
  * Added selectAxis2D()
  * Added point3Dto2D()
  * Added point2Dto3D()
- Intersection3D
  * Added intersection(Triangle3D,LineParametric3D)
- Intersection2D
  * Added intersection of two lines defined by 4 points.
- Polygon2D
  * Added getSideLength()
- UtilCircle2D
  * circle from 3 points

---------------------------------------------
Date    : 2017/08/13
Version : 0.13

- 32bit auto coding switched over to using auto64fto32f library
- Added basic support for twist coordinates and conversion to their exponential format
- added divide to tuple3
- Uses new F32 operations in EJML
  * Before it was forced to do math in F64 even if a data structure was F32
- F32 verson of ellipse fitting operations

---------------------------------------------
Date    : 2016/11/30
Version : 0.12

- Added FitEllipseWeightedAlgebraic
   * Weighted version of FitEllipseAlgebraic
- Intersection2D
  * point inside ellipse
  * line ellipse intersection
- Intersection3D
  * line sphere intersection
- Distance2D
  * Euclidean distance of point from rotated ellipse
- UtilAngle
  * Added bound for -pi/2 and pi/2
  * Added bound wrap for 0.0 to 1.0
  * Added bound reflect for 0.0 to 1.0
  * Fixed behavior of atanSafe for x == 0 case
- UtilEllipse
  * added computeTangent
  * added tangentLines() - finds two lines which are tangent to the ellipse and pass through a point outside ellipse
  * added tangentLines() - 4 lines which are tangent to two ellipses
- UtilPolygons2D
  * added removeAlmostParallel()
- LineSegment2D_F64
  * Added a toString() at the suggestion of thhart
- Added ConvertCoordinates3D
- angleToDegrees and degreesToAngle
  * float versions
  * short hand function calls

---------------------------------------------
Date    : 2016/06/09
Version : 0.11

- Average of Quaternion
- Average of Rotation Matrix

---------------------------------------------
Date    : 2016/01/23
Version : 0.10

- UtilAngle
  * Added function to change domain from -pi to pi into 0 to 2*pi
- Fixed bug in Affine2D inverse
  * storage for transform wasn't being used
- Distance2D
  * distance from origin for parametric line
- UtilPoint2D_F
  * Mean from array
- Renamed RotationMatrixGenerator to ConvertRotation3D
  * Broken up into F64 and F32
- Added support for all 3-axis Euler angles
- New equations for some conversions too and from rotation matrix

---------------------------------------------
Date    : 2015/11/07
Version : 0.9

- UtilPolygons2D
  * Added convexHull()
- UtilPoint2D
  * Added mean for 2 points
- UtilLine2D
  * 2 point line segment into line general
- Area2D
  * Fixed concave Quadrilateral case
  * removed polygon convex
  * added polygon simple
- Distance2D
  * Added distance from point for normalized GeneralizedLine2D


---------------------------------------------
Date    : 2015/09/18
Version : 0.8

- Fixed issue with UtilAngle.distanceCW and distanceCCW
  * Would return 2*PI instead of 0 if two inputs were identical
- Added linear interpolation for Se2
- Added dot product and acute angle to Vector2D
- Added ClosestPoint3D.closestPointT() for line and plane
  * Added LineParametric3D.setPointOnLine
- Distance2D
  * added line segment to line segment
  * added quadrilateral to point
  * added Polygon2D and point
- UtilPolygons2D
  * Center for Quadrilateral
  * added vertexAve
  * isConvex()
  * isIdentical()
  * isEquivalent()
  * convert poly to quad
  * flip()
- Area2D
  * Area convex polygon
- Quadrilateral
  * isEquals()
  * get( index )
- Rectangle2D
  * enforceExtents()
- Intersection2D_I32
  * inside( rect , pt )
- Intersection2D_F64
  * intersectionArea( Rectangle2D_F64 a , Rectangle2D_F64 b )
  * contains quadrilateral and a point
- Math
  * minus point output vector in 2D
- RotationMatrixGenerator
  * Rotations of PI degrees are now handled correctly

---------------------------------------------
Date    : 2014/09/17
Version : 0.7

- Switch build system over to Gradle
- Cleared up which direction found transforms are going in MotionTransformPoint
- Shapes added
  * Point3D_I32
  * Box3D_I32
  * Renamed Cube_F* to Box_F*.  cube is too specific
  * Triangle3D_F*
- Se3
  * added setTranslation() and setRotation() to make it more user friendly.
  * removed setT() and setR() so that serialization doesn't get messed up.
- Vectors and Points
  * Added cross and minus inline to vector
  * Added default addition and multiplication Tuple3D and Tuple2D
  * Acute angle between two 3d vectors
- ClosestPoint
  * Added 2D line segment to point
  * Added ClosestPoint3D.closestPointOrigin()
  * Added closest point on line to a point in 3D parameterized as a scalar
- Intersection
  * Added 3D triangle and line segment
  * Added contained2() for Rectangle2D_F* and Box2D_F* in which the upper extent is inclusive
  * Added line general and line general for 2D point (homogeneous already existed)
- UtilLine2D
  * Added convert polar to general and general to polar
  * Added convert line segment to general
  * Added acuteAngle() and acuteAngleN() for computing the acute angle between the slope of two general lines
- UtilPoint2D
  * added bounding() for finding the bounding rectangle
  * added orderCCW() for sorting a points on CCW order around their centroid
- Added default plus and times operators to GeoTuple2D and GeoTuple3D
- Added UtilPlane3D.planeToWorld()
- Changed packages named homo to homography
- Added Linear interpolation between two Se3.  InterpolateLinearSe3_*
- MotionSe2PointSVD no longer throws RuntimeException if it fails.  returns false instead
- Renamed Rectangle2D to RectangleLength2D and RectangleCorner2D to Rectangle2D for consistency with 3D Box format
- Rectangle2D now uses points instead of regular variables
- CovarianceToEllipse_F64 for computing containment ellipses from 2D covariance matrix
- Area2D
  * Added quadrilateral
- Fixed bug in FitLine.polar(points,weights)

---------------------------------------------
Date    : 2014-06-18
Version : 0.6

- Auto code generator ignores the copyright notice.
- Closest point and distance from a 3D triangle and a point
- Fixed bug in distance and closest point from a point to a 3D line segment
- Made InvertibleTransformSequence generic and moved to transform package
- Made more structures implement Serializable so that they might be a Java Bean
  * Haven't rigorously checked to see if they truly are
- Fixed bug in UtilLine2D_F64.convert( Parametric , Polar )
- Split up AffinePointOps into 32 and 64
- Rectangle
  * Removed image processing notation for top-left corner.  Replaced with lower-extend and upper-extent

---------------------------------------------
Date    : 2013-12-26
Version : 0.5

- Flushed out Quadrilateral
- Added functions to Rectangle2D
- Added Cube3D
- Added Sphere3D
- Added Cylinder3D
- Added LineSegment3D
- Added Intersection3D.contain(cube,point)
- Least squares fitting
  * Plane3D
  * Sphere3D
  * Cylinder3D
- Made F64 and F32 variants of Rodrigues and Quaternion

---------------------------------------------
Date    : 2013-06-24
Version : 0.4

- Adding support for 3D planes
  * converting between different formulations
  * intersection of lines and planes
  * intersection of two planes
  * closest point and distance to point
- Added ConvertStructureDataType for converting between 64bit and 32bit data structures and the reverse
- Renamed Se2.tran to Se2.T for consistency with Se3
- Fixed incorrect no constructor initialization in Se2

---------------------------------------------
Date    : 2013-04-11
Version : 0.3

- UtilPoint3D_F64
  * Added distance() and distanceSq()
- UtilPoint2D_I32
  * distanceSq()
- Added Circle2D
- Added Ellipse
- Various ellipse related algorithm
  * Algebraic best fit to points
  * Euclidean best fit to points 
  * Euclidean distance from points
- Intersection2D_F64.containConcave() tests to see if a point is contained in a concave polygon
- Added dependency to DDogleg library


---------------------------------------------
Date    : 2013-02-16
Version : 0.2

- Added metric.Area2D
  * Area of arbitrary triangle

---------------------------------------------
Date    : 2012-11-27
Version : 0.1

First versioned release and added to maven

--------------------------

- Early development release.  Changes kept track of inside GIT comments