MRPT v2.0.0 Release Notes

Release Date: 2019-07-14 // over 4 years ago
  • ๐Ÿ”– 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
    • ๐Ÿ‘Œ Support for old namespaces mrpt-scanmatching, mrpt-reactivenav is over.
    • ๐Ÿšš 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
    • โž• Add support for serialization with std::variant

    Detailed list of changes:

    • โšก๏ธ Too many to list here. See a partial list here and checkout the updated API doxygen docs.

    ๐Ÿ› BUG FIXES :

    • ๐Ÿ›  Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
    • ๐Ÿ›  Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
    • ๐Ÿ›  Fix aborting reading from LMS111 scanner on first error.
    • ๐Ÿ›  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).
    • ๐Ÿ›  Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
    • ๐Ÿ›  Fix crash in CGPSInterface when not setting an external mutex.