Upgrade Requirements for 2015.0.x
This page lists the changes that you must make to your code or pipeline to upgrade to the 2015 release.
Removed the ITrajectory Class
The ITrajectory class is removed. Instead, you can use the Trajectory class.
Renamed the ChannelTrajectory Class
The ChannelTrajectory class is renamed to SplineTrajectory. All related classes like ChannelTrajectoryConfig and ChannelTrajectoryConfigBlob are also renamed to SplineTrajectoryConfig and SplineTrajectoryConfigBlob respectively.
Removed the SetNextUpdateConfig() Function
The SetNextUpdateConfig() function is removed from these classes: Bot, BoxObstacle, CylinderObstacle, and PointOfInterest. Instead of SetNextUpdateConfig(), you can use the member functions in these classes to update the position, velocity, and direction of the Bot. For example, to access the Bot position, you can call Bot::SetPosition().
To derive the velocity and direction from the position, you can call Bot::SetPositionAndVelocityAndFrontDirection(). Similarly, you can call Bot::SetPositionAndVelocity() to derive the velocity from the position, and call Bot::SetVelocityAndFrontDirection() to set the velocity and derive FrontDirection from it.
Renamed the m_idealClearanceRadius Parameter
The m_idealClearanceRadius parameter is renamed to m_channelRadius in the ChannelComputerConfig class.
m_pathValidationDistanceBackward and m_pathValidationDistanceForward
The m_pathValidationDistanceBackward and m_pathValidationDistanceForward parameters are renamed to m_pathValidationMinDistanceBackward and m_pathValidationMinDistanceForward respectively. Additionally, these parameters are moved to the AdvancedPathProgressConfig class.
Moved Parameters from the ShortcutTrajectoryConfig Class
Except for m_snapOnPathDistance, all other parameters are moved to the AdvancedShortcutTrajectoryConfig class.
Renamed the m_recomputationDistance Parameter
The m_recomputationDistance parameter is renamed to m_recomputationDistanceRatio in the SplineTrajectoryConfig class. Additionally, the SplineConfig class is now renamed to SplineComputationConfig.
Changes for Better Categorization of Parameters
- Added AdvancedBotConfig in the BotConfig class that contains advanced parameters related to trajectory.
- Added AdvancedChannelComputerConfig in the ChannelComputerConfig class that contains parameters for tweaking algorithms at a low level.
- Added AdvancedPathProgressConfig in the PathProgressConfig class.
- Added AdvancedShortcutTrajectoryConfig in the ShortcutTrajectoryConfig class.
- Added AdvancedSplineComputationConfig in the SplineComputationConfig class.
- Added AvoidanceUtilityFunctionConfig, AvoidanceCapConfig, and AvoidanceContactSolverConfig in the AvoidanceConfig class.
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