MRPT  2.0.3
Porting code from MRPT 1.{3,4,5} to MRPT 2.*

MRPT 2.0 includes several fundamental changes, most of them related to API clean ups and the introduction of C++17 as the minimum supported version of the language.

Existing user applications may need to be adapted to continue compiling and working as usual after updating to MRPT 2.*:

Mandatory changes

  • Your project must use C++17. Using CMake this is now done automatically when linking your targets against MRPT imported targes. See: Using MRPT from your CMake project.
  • Matrices and classes no longer inherits from Eigen classes. See: Vectors, matrices, linear Algebra
  • The header <mrpt/math/lightweight_geom_data.h> is deprecated. Instead, use
  • Smart pointers are now standard std::shared_ptr<> instead of those based on stlplus. Required changes:
    • ptr.clear() --> ptr.reset(). Also, notice that the former stlplus semantics of clear() deleting all copies of the object, as hold by different smart pointers, is no longer maintained. There is no longer such a possibility, since the C++11 standard does not allow it to happen (and it makes sense in this way).
    • ptr.clear_unique() --> ptr.reset(). (Read this note above)
    • ptr.make_unique() does no longer exists, and does not make sense (read above).
    • ptr.pointer() --> ptr.get()
  • Smart pointers have been renamed from CFooPtr to the more standard CFoo::Ptr, with a new pointer-to-const version CFoo::ConstPtr.
    • Note: To help with porting and maintaining existing code bases, MRPT >=1.5.4 offers MRPT2-like CFoo::Ptr smart pointers. Refer to changelog of mrpt 1.5.4.
  • You can keep using code like:
    CFoo::Ptr o = CFoo::Create();
    in MRPT 2.0 to create a smart pointer, but can also use std::make_shared<CFoo>(), or std::make_shared<CFoo>() if the class must be memory-aligned (typically, if it contains Eigen matrices). The arguments of Create() are now perfectly-forwarded to the class ctor, so the parameter list must exactly match any of the available ctors.
  • Smart pointer typecasting now is done via C++11 standard functions:
    • Example: Old code
      CObservationPtr obs = getObsFromSomewhere();
      CObservationGPSPtr gps = CObservationGPS(obs);
      becomes pure C++14 in MRPT 2.0:
      CObservation::Ptr obs = getObsFromSomewhere();
      CObservationGPS::Ptr gps = std::dynamic_pointer_cast<CObservationGPS>(obs);
      or, if you need to keep your code compatible with MRPT >=1.5.4:
      CObservation::Ptr obs = getObsFromSomewhere();
      CObservationGPS::Ptr gps = mrpt::ptr_cast<CObservationGPS>::from(obs);
  • Threads, semaphores and mutexes are now based on C++11 standard library. Required changes:
    • mrpt::synch::CCriticalSection cs; --> std::mutex cs;
    • mrpt::synch::CCriticalSectionLocker lock(&cs); --> std::lock_guard<std::mutex> lock(cs);
    • mrpt::system::TThreadHandle h = mrpt::system::createThread(...); --> std::thread h = std::thread(...);
    • mrpt::system::sleep(5); --> std::this_thread::sleep_for(5ms);
    • mrpt::synch::CSemaphore sem; sem.waitForSignal(timeout); sem.release(); --> std::promise<void> sem; auto fut = sem.get_future(); fut.wait_for(...); sem.set_value();
    • Scheduler functions are now in a new header <mrpt/system/scheduler.h>, not in the old <mrpt/system/threads.h:
  • mrpt::utils::CObject::duplicate() has been removed, use the equivalent (redundant) mrpt::utils::CObject::clone().
  • CSerialPort, mrpt::utils::net, sockets: have been moved to its own new module [mrpt-comms] under namespace mrpt::comms.
  • Static variables have been dropped in favor of global getter/setter functions. This allowed removing all DLL import/export macros for Windows compilers. Important changes are:
  • ASSERT_* macros must now be ended with a semicolon, e.g. ASSERT_(a>0);
  • Serialization: See tutorial of the new module [mrpt-serialization]
    • To serialize an object to/from a CStream, you must now use CArchive:
      CStreamXXXX f; // Any mrpt::io::CStream type
      arch << object;
      arch >> object;
    • The two methods writeToStream() and readFromStream() of old CSerializable classes must be replaced by the three methods: serializeGetVersion(), serializeTo(), and serializeTo(). See tutorials in [mrpt-serialization].
  • Implicit constructor to convert from mrpt::poses::CPose3D to mrpt::math::TPose3D has been removed, due to the refactoring of mrpt::math and mrpt::poses into separate libraries. To convert CPose3D -> TPose3D, use the new method mrpt::poses::CPose3D::asTPose()
    mrpt::math::TPose3D p2 = p1; // ERROR in mrpt 2.0 (built in MRPT 1.*)
    mrpt::math::TPose3D p3 = p1.asTPose(); // OK for mrpt 2.0
  • 16-byte memory-aligned STL containers are now not required, since C++17 already observes the required alignment by default.
  • mrpt::system::TTimeStamp is now a C++11-compatible std::chrono clock time_point. All existing backwards-compatible functions to handle dates and timestamps in MRPT remain, but C++11 chrono functions can be now also used instead. mrpt::system::secondsToTimestamp() has been removed since it mixed up a duration with time_point and may be prone to errors.
  • The RTTI macros IS_CLASS() and IS_DERIVED() now accept references to objects instead of pointers:
    if (IS_CLASS(ptrObj, ...)) // ERROR in mrpt 2.0 (built in MRPT 1.*)
    if (IS_CLASS(*ptrObj, ...)) // OK for mrpt 2.0
    if (IS_DERIVED(ptrObj, ...)) // ERROR in mrpt 2.0 (built in MRPT 1.*)
    if (IS_DERIVED(*ptrObj, ...)) // OK for mrpt 2.0

Optional changes

  • Use the Foo::ConstPtr smart pointers when possible instead of its non-const counterpart.
IS_CLASS
#define IS_CLASS(obj, class_name)
True if the given reference to object (derived from mrpt::rtti::CObject) is of the given class.
Definition: CObject.h:146
mrpt::ptr_cast::from
static CAST_TO::Ptr from(const CAST_FROM_PTR &ptr)
Definition: CObject.h:356
mrpt::poses::CPose3D
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:85
mrpt::poses::CPose3D::asTPose
mrpt::math::TPose3D asTPose() const
Definition: CPose3D.cpp:759
mrpt::math::TPose3D
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
Definition: TPose3D.h:24
mrpt::serialization::archiveFrom
CArchiveStreamBase< STREAM > archiveFrom(STREAM &s)
Helper function to create a templatized wrapper CArchive object for a: MRPT's CStream,...
Definition: CArchive.h:592
IS_DERIVED
#define IS_DERIVED(obj, class_name)
True if the given reference to object (derived from mrpt::rtti::CObject) is an instance of the given ...
Definition: CObject.h:151



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