MRPT v2.0.0 Release Notes
Release Date: 2019-07-14 // over 4 years ago-
๐ Version 2.0.0-alpha: 2019-Jul-14
Most important changes:
- MRPT now requires C++17 to build and use. See this page for a guide to port existing code to MRPT 2.0
- ๐ Support for old namespaces
mrpt-scanmatching
,mrpt-reactivenav
is over. - ๐ Backwards compatible headers for "maps" and "observations" in mrpt::slam are removed. They moved to their own namespaces in MRPT v1.3.0 (Jan 2015).
- All pointer typedefs are now in their respective classes: FooPtr -> Foo::Ptr
- โ Add support for serialization with std::variant
Detailed list of changes:
- โก๏ธ Too many to list here. See a partial list here and checkout the updated API doxygen docs.
๐ BUG FIXES :
- ๐ Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
- ๐ Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
- ๐ Fix aborting reading from LMS111 scanner on first error.
- ๐ Fix == operator on CPose3D: it now uses an epsilon for comparing the rotation matrices.
- Fix accessing unaligned POD variables deserializing CObservationGPS (via the new
MRPT_READ_POD()
macro). - ๐ Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
- ๐ Fix crash in CGPSInterface when not setting an external mutex.