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. Read also how to import MRPT into your CMake scripts..

  • 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

    • <mrpt/math/TPose2D.h>

    • <mrpt/math/TPose3D.h>

    • <mrpt/math/TPoint2D.h>

    • (and so on)

  • 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that the former stlplus semantics of clear() deleting all copies of the object, as hold by different smart pointers, is no longer maintained.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
auto arch = mrpt::serialization::archiveFrom(f);
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::poses::CPose3D p1;
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.