ros-humble-autoware-kalman-filter (1.9.0-1jammy) jammy; urgency=high

  * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  * perf(autoware_kalman_filter): use Cholesky solve in update() with full guard-branch test coverage (#1094 <https://github.com/autowarefoundation/autoware_core/issues/1094>)
    * test(autoware_kalman_filter): cover validation and guard branches
    Add unit tests for the previously-untested KalmanFilter dimension
    validation FALSE branches (init/predict/update), the state and covariance
    getters, and a closed-form numerical-equivalence update check on a
    correlated covariance. Add TimeDelayKalmanFilter::updateWithDelay tests
    for the non-column-vector, non-square-R, R/C-row-mismatch, and
    non-positive-definite (LLT failure) rejection paths, capturing stderr so
    test output stays clean.
    * perf(autoware_kalman_filter): solve innovation covariance via Cholesky in update()
    Mirror the optimization already applied to TimeDelayKalmanFilter::updateWithDelay
    in the base KalmanFilter::update: compute the Kalman gain with a Cholesky (LLT)
    solve of the innovation covariance S = C P C^T + R instead of an explicit matrix
    inverse. This is faster and numerically more stable, and a failed decomposition
    now rejects updates whose innovation covariance is not positive definite, which the
    explicit inverse silently accepted with a meaningless gain (potentially corrupting
    downstream state in autoware_ekf_localizer).
    Also use noalias() in predict(x_next, A, Q) to drop the intermediate Eigen
    temporaries of A P A^T in that hot per-cycle path.
    The public bool API is unchanged; behavior is identical for valid inputs (verified
    against the closed-form solution) and fails safe for non-positive-definite ones.
    * test(autoware_kalman_filter): address review feedback
    - assert update against hand-computed numeric literals instead of a re-typed copy of the solver formula
    - strengthen the two-arg init test to verify stored state/covariance feed the filter math, keeping getXelement coverage
    Refs: autowarefoundation/autoware_core#1096 <https://github.com/autowarefoundation/autoware_core/issues/1096>
    * test(autoware_kalman_filter): de-tautologize the kf end-to-end test (#78 <https://github.com/autowarefoundation/autoware_core/issues/78>)
    Replace the recomputed-with-the-same-Kalman-formula expectations in TEST(kalman_filter, kf) with independent hand-computed numeric literals for the predict and update steps (A=B=C=I, Q=0.01I, R=0.09I), with the derivations written out in comments. The previous expectations re-typed the implementation's own predict/update expressions, so a wrong formula would have passed in both places.
    Refs: autowarefoundation/autoware_core#1096 <https://github.com/autowarefoundation/autoware_core/issues/1096>
    * test(autoware_kalman_filter): drop trivial init getter/setter test (#88 <https://github.com/autowarefoundation/autoware_core/issues/88>)
    interimadd flagged the two-argument init test as covering only
    straightforward getters/setters and empty values, with no logic to
    break. The follow-up commit had reworked it into
    init_state_cov_feed_into_filter_math, but it still ultimately exercises
    init() storing x/P round-tripped through getters, so it adds little
    value. Remove it entirely per the reviewer's request.
    The remaining tests already assert against hand-computed numeric
    literals independent of the SUT (update_matches_closed_form_with_correlated_covariance)
    and check only the boolean return of updateWithDelay for rejection
    paths, so the other two review points are already satisfied on the PR
    head.
    Refs: autowarefoundation/autoware_core#1096 <https://github.com/autowarefoundation/autoware_core/issues/1096>
    * fix(autoware_kalman_filter): log LLT failure in update() like updateWithDelay
    Address review: KalmanFilter::update() rejected non-positive-definite innovation
    covariance silently (returned false with no message), an observability asymmetry
    with TimeDelayKalmanFilter::updateWithDelay. Emit the same std::cerr diagnostic so
    a caller that gets false can tell why the update was rejected.
    ---------
  * Contributors: Yutaka Kondo, github-actions

 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Tue, 23 Jun 2026 15:00:00 -0000

ros-humble-autoware-kalman-filter (1.8.0-1jammy) jammy; urgency=high

  * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  * perf(autoware_kalman_filter): optimize updateWithDelay by replacing sparse matrix operations (#739 <https://github.com/mitsudome-r/autoware_core/issues/739>)
    * Optimize updateWithDelay by replacing sparse matrix operations with block arithmetic
    * style(pre-commit): autofix
    * Add test
    * style(pre-commit): autofix
    * Update README.md for (Extended Kalman Filter)
    * style(pre-commit): autofix
    * Add more detailed comments
    * style(pre-commit): autofix
    * Handle negative delay step and refactor tests
    * Replace TDKF with full term
    * style(pre-commit): autofix
    * Remove LLM like comment
    * Address PR review comments: add input validation, NaN guard, and docs fix
    - Add dimension validation for y, R, and C matrices in updateWithDelay
    - Add NaN/Inf check on Kalman gain to match base KalmanFilter::update
    - Add [[unlikely]] branch hints on all error paths
    - Clarify "diagonal block" comment terminology
    - Fix README augmented state vector (x_{k-d} -> x_{k-d+1}) and clarify delay range
    - Add test for C matrix dimension mismatch
    * style(pre-commit): autofix
    * fix: remove [[unlikely]] C++20 attributes for C++17 compatibility
    The [[unlikely]] attribute is a C++20 feature that causes compilation
    errors under clang-tidy which enforces strict C++17 compliance.
    ---------
    Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
    Co-authored-by: Yamato Ando <yamato.ando@tier4.jp>
  * refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to common and testing packages (#967 <https://github.com/mitsudome-r/autoware_core/issues/967>)
    Co-authored-by: github-actions <mailto:github-actions@github.com>
    Co-authored-by: Junya Sasaki <mailto:j2sasaki1990@gmail.com>
  * fix(autoware_kalman_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#910 <https://github.com/mitsudome-r/autoware_core/issues/910>)
  * fix(autoware_kalman_filter): fix bugprone-narrowing-conversions warnings (#930 <https://github.com/mitsudome-r/autoware_core/issues/930>)
  * Contributors: Keita Morisaki, NorahXiong, Vishal Chauhan, github-actions

 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Thu, 30 Apr 2026 15:00:00 -0000

ros-humble-autoware-kalman-filter (1.7.0-1jammy) jammy; urgency=high



 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Fri, 13 Feb 2026 15:00:00 -0000

ros-humble-autoware-kalman-filter (1.6.0-1jammy) jammy; urgency=high



 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Mon, 29 Dec 2025 15:00:00 -0000

ros-humble-autoware-kalman-filter (1.5.0-1jammy) jammy; urgency=high

  * Merge remote-tracking branch 'origin/main' into humble
  * feat: replace ament_auto_package to autoware_ament_auto_package (#700 <https://github.com/autowarefoundation/autoware_core/issues/700>)
    * replace ament_auto_package to autoware_ament_auto_package
    * style(pre-commit): autofix
    ---------
    Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  * chore: update maintainer (#637 <https://github.com/autowarefoundation/autoware_core/issues/637>)
    * chore: update maintainer
    remove Takeshi Ishita
    * chore: update maintainer
    remove Kento Yabuuchi
    * chore: update maintainer
    remove Shintaro Sakoda
    * chore: update maintainer
    remove Ryu Yamamoto
    ---------
  * chore: bump version (1.4.0) and update changelog (#608 <https://github.com/autowarefoundation/autoware_core/issues/608>)
  * Contributors: Mete Fatih Cırıt, Motz, Yutaka Kondo, mitsudome-r

 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Sat, 15 Nov 2025 15:00:00 -0000

ros-humble-autoware-kalman-filter (1.4.0-1jammy) jammy; urgency=high

  * chore: bump version to 1.3.0 (#554 <https://github.com/autowarefoundation/autoware_core/issues/554>)
  * Contributors: Ryohsuke Mitsudome

 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Sun, 10 Aug 2025 15:00:00 -0000

ros-humble-autoware-kalman-filter (1.3.0-1jammy) jammy; urgency=high

  * fix: to be consistent version in all package.xml(s)
  * chore: bump up version to 1.1.0 (#462 <https://github.com/autowarefoundation/autoware_core/issues/462>) (#464 <https://github.com/autowarefoundation/autoware_core/issues/464>)
  * fix(autoware_kalman_filter): fixed clang-tidy error (#379 <https://github.com/autowarefoundation/autoware_core/issues/379>)
    * fix(autoware_kalman_filter): fixed clang-tidy error
    * remove comment
    ---------
  * refactor(autoware_kalman_filter): rewrite using modern C++ without API breakage (#346 <https://github.com/autowarefoundation/autoware_core/issues/346>)
    * refactor using modern c++
    * remove ctor/dtor
    * precommit
    * use eigen methods
    * Update common/autoware_kalman_filter/include/autoware/kalman_filter/kalman_filter.hpp
    ---------
  * chore(autoware_kalman_filter): add maintainer (#381 <https://github.com/autowarefoundation/autoware_core/issues/381>)
    * chore(autoware_kalman_filter): add maintainer
    * removed the maintainer with an invalid email address.
    * added members of the Localization / Mapping team as maintainers.
    * removed the duplicate entry.
    * fixed the deletion as the wrong entry was removed
    ---------
  * Contributors: RyuYamamoto, Yutaka Kondo, github-actions

 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Sun, 22 Jun 2025 15:00:00 -0000

ros-humble-autoware-kalman-filter (1.1.0-1jammy) jammy; urgency=high

  * fix(autoware_kalman_filter): fixed clang-tidy error (#379 <https://github.com/autowarefoundation/autoware_core/issues/379>)
    * fix(autoware_kalman_filter): fixed clang-tidy error
    * remove comment
    ---------
  * refactor(autoware_kalman_filter): rewrite using modern C++ without API breakage (#346 <https://github.com/autowarefoundation/autoware_core/issues/346>)
    * refactor using modern c++
    * remove ctor/dtor
    * precommit
    * use eigen methods
    * Update common/autoware_kalman_filter/include/autoware/kalman_filter/kalman_filter.hpp
    ---------
  * chore(autoware_kalman_filter): add maintainer (#381 <https://github.com/autowarefoundation/autoware_core/issues/381>)
    * chore(autoware_kalman_filter): add maintainer
    * removed the maintainer with an invalid email address.
    * added members of the Localization / Mapping team as maintainers.
    * removed the duplicate entry.
    * fixed the deletion as the wrong entry was removed
    ---------
  * Contributors: RyuYamamoto, Yutaka Kondo

 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Wed, 30 Apr 2025 15:00:00 -0000

ros-humble-autoware-kalman-filter (1.0.0-1jammy) jammy; urgency=high



 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Sun, 30 Mar 2025 15:00:00 -0000

ros-humble-autoware-kalman-filter (0.3.0-1jammy) jammy; urgency=high

  * chore: rename from autoware.core to autoware_core (#290 <https://github.com/autowarefoundation/autoware.core/issues/290>)
  * test(autoware_kalman_filter): add tests for missed lines (#263 <https://github.com/autowarefoundation/autoware.core/issues/263>)
  * Contributors: NorahXiong, Yutaka Kondo

 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Thu, 20 Mar 2025 15:00:00 -0000

ros-humble-autoware-kalman-filter (0.2.0-1jammy) jammy; urgency=high

  * unify version to 0.1.0
  * update changelog
  * feat: port autoware_kalman_filter from autoware_universe (#141 <https://github.com/autowarefoundation/autoware_core/issues/141>)
    Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
    Co-authored-by: Yutaka Kondo <mailto:yutaka.kondo@youtalk.jp>
    Co-authored-by: Ryohsuke Mitsudome <mailto:43976834+mitsudome-r@users.noreply.github.com>
  * Contributors: Yutaka Kondo, cyn-liu
  * feat: port autoware_kalman_filter from autoware_universe (#141 <https://github.com/autowarefoundation/autoware_core/issues/141>)
    Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
    Co-authored-by: Yutaka Kondo <mailto:yutaka.kondo@youtalk.jp>
    Co-authored-by: Ryohsuke Mitsudome <mailto:43976834+mitsudome-r@users.noreply.github.com>
  * Contributors: cyn-liu

 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Thu, 06 Feb 2025 15:00:00 -0000

ros-humble-autoware-kalman-filter (0.0.0-1jammy) jammy; urgency=high



 -- "Yukihiro Saito" <yukihiro.saito@tier4.jp>  Sun, 01 Dec 2024 15:00:00 -0000


