Release Notes 2023-12-15:

  • The MIRA environment enables C++17 standard for compilation, compilers not supporting C++17 are not supported anymore.
  • Added a serialization adapter for std::variant.
  • Added RigidTransform::isWellDefined() to check against NaN elements and invalid covariance matrices.
  • The variadic function implementation for the RPC framework has been reworked, resulting in unlimited number of parameters for RPC functions, and better compile time error diagnostics.
  • Authority has a new startWithParent() method, to control whether child authorities are started when their parent authority starts (required for dynamical switching of submodule activity when the parent authority can be stopped and restarted within an application).
  • A ServiceCall class was added, which acts as a proxy for RPC service methods, with the possibility to check the existence of the service and method (name + signature) at initialization.
  • miracenter AthorityView: the autority status that is displayed is queried by Authority::isStarted() (not Authority::isRunning()), giving more granular status for child authorities

Release Notes 2023-10-13:

  • Build system: New wequired versions for cmake (>= 3.10) and gcc (>= 7.0)

  • XMLDomPreprocessor: variable 'filePath' resolves correctly in files included from xml with no URI.

  • Parameter names for RPC signatures are explicitly stripped of const/reference qualifiers.

  • The performance of the JSONSerializers was improved by avoiding unnecessary copys.

  • Framework: restructured all commandline parameters for clearer presentation.

  • Fixed potential crash when closing a remote connection.

  • mirapackage: Added a lot of new command line options and the most functions can now be used from the command line.

Release Notes 2023-02-01:

  • Geometry: MIRABase provides a new rasterPolygon() method. This provides a generally more exact shape rendering compared to CollisionTest from RigidModel toolbox, while relative performance
    heavily depends on the actual shape. CollisionTest performance has also been improved by storing a bounding box for the active cells from the calculation of lookup tables (best speedup for shapes with high length:width ratio).

  • Toolbox Navigation: Added new task RestrictAreaTask

  • miracenter: with the Ctrl-P command, the view is now captured immediately before displaying the 'Save as' dialogue, improving the possibility to capture dynamic view content.

  • mirapackage: fixed some errors related to handling upper/lower case in URLs.

 

 

Release Notes 2023-03-17:

  • During build, when there is a discrepancy between a class' abstractness declaration from MIRA_[ABSTRACT_]OBJECT and its actual abstractness, the manifest generator will not just output an error message, but make the build fail by returning an exit code.

  • Serialization: added support for boost::variant.

  • The type name string created by typeName() includes the type's const/volatile qualifiers by default (can be disabled by an optional parameter).

  • Toolbox CameraParameters: added DepthCameraIntrinsic, depth camera visualization.

  • Toolbox RigidModel (Markers): added a new MeshMarker class, allowing to dynamically create objects of arbitrary shape, based on a mesh file (which can be created with 3D editing software like Blender).

  • Toolbox RobotDataTypes: added wrench transformation operators and 3D visualization.

  • miracenter: fullscreen view is restored correctly when loading a respective workspace.

Release Notes 2022-11-25:

  • XML configs (XMLDOM processing): <include> tag now also supports 'select_not' attribute.

  • QtUtils::toQImage() has been refactored improving clarity, safety and efficiency, and thus replaced by
    makeQImage() and asQImage().

  • mirapackage supports index files for gitlab repositories -> reindexing a repo can be accelerated
    substantially by providing server-side index.

  • Recording time for a tape is shown correctly in miracenter TapePlayer even if the tape
    was recorded in a different timezone than where it is played back.

Additional information