This page lists the changes that you must make to your code or pipeline to upgrade to the 2016 release.

In the Trajectory, ShortcutTrajectory, and SplineTrajectory classes, Bot* is now a member and not a parameter that is passed in all functions. This change is introduced because trajectories are now part aggregated in the Bot.

These two parameters in BotConfig::m_advancedConfig are moved as shown below:

• BotConfig::m_advancedConfig.m_localCostOnPath is now BotConfig::m_pathProgressConfig.m_advancedConfig.m_localMaxCostMultiplierOnPathDistance
• BotConfig::m_advancedConfig.m_trajectoryMinimalMoveDistance is now BotConfig::.m_trajectoryMinimalMoveDistance