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Migration.md

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Note on deprecations

A tick-tock release cycle allows easy migration to new software versions. Obsolete code is marked as deprecated for one major release. Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code.

Gazebo Math 7.X to 8.X

Breaking Changes

  1. All references to ignition have been removed. This includes the ignition/ header files, the ignition:: namespaces, and IGN_* and IGNITION_* macros.

  2. Behavior change in math::Color clamping functionality. Previously when any of the color r, g, or b values are larger than 1, they are assumed to be in the range of [0, 255] and the values are divided by 255 by the math::Color::Clamp funcion. This is no longer the case. Users are expected to specify floating point r, g, b values in the range of [0, 1]. Any values larger than 1 will be clamped to 1.

  3. math::SphericalCoordinates::LOCAL now gives ENU coordinates instead of WNU. Both math::SphericalCoordinates::LOCAL2 and math::SphericalCoordinates::LOCAL have the same behaviour now with math::SphericalCoordinates::LOCAL2 being deprecated.

  4. Deprecated functionality from version 7 has been removed.

Deprecations

  1. Stopwatch.hh

    • The math::clock type alias is deprecated. Please use the underlying type (std::chrono::steady_clock) directly.

  2. graph/Vertex.hh

  3. graph/Edge.hh

  4. SphericalCoordinates.hh

    • Deprecated: gz::math::Vector3d SphericalFromLocalPosition( const gz::math::Vector3d &_xyz) const
    • Replacement: std::optional<math::CoordinateVector3> SphericalFromLocalPosition( const gz::math::CoordinateVector3 &) const
    • Deprecated: gz::math::Vector3d GlobalFromLocalVelocity( const gz::math::Vector3d &_xyz) const
    • Replacement: std::optional<math::CoordinateVector3> GlobalFromLocalVelocity( const gz::math::CoordinateVector3 &) const
    • Deprecated: gz::math::Vector3d LocalFromSphericalPosition( const gz::math::Vector3d &) const
    • Replacement: std::optional<math::CoordinateVector3> LocalFromSphericalPosition( const gz::math::CoordinateVector3 &) const
    • Deprecated: gz::math::Vector3d LocalFromGlobalVelocity( const gz::math::Vector3d &_xyz) const
    • Replacement: std::optional<math::CoordinateVector3> LocalFromGlobalVelocity( const gz::math::CoordinateVector3 &_xyz) const
    • Deprecated: gz::math::Vector3d PositionTransform(const gz::math::Vector3d &, const CoordinateType &, const CoordinateType &) const
    • Replacement: std::optional<gz::math::CoordinateVector3> PositionTransform(const gz::math::CoordinateVector3 &, const CoordinateType &, const CoordinateType &) const
    • Deprecated: gz::math::Vector3d VelocityTransform( const gz::math::Vector3d &, const CoordinateType &, const CoordinateType &) const
    • Replacement: std::optional<gz::math::CoordinateVector3> VelocityTransform( const gz::math::CoordinateVector3 &, const CoordinateType &, const CoordinateType &) const
    • math::SphericalCoordinates::LOCAL2 enum is deprecated. Please use math::SphericalCoordinates::LOCAL with conversion functions that take a math::CoordinateVector3 instead.

Gazebo Math 6.X to 7.X

Breaking Changes

  1. Removed the Quaternion integer template Quaternioni.

  2. The project name has been changed to use the gz- prefix, you must use the gz prefix!

* This also means that any generated code that use the project name (e.g. CMake variables, in-source macros) would have to be migrated.
* Some non-exhaustive examples of this include:
  * `GZ_<PROJECT>_<VISIBLE/HIDDEN>`
  * CMake `-config` files
  * Paths that depend on the project name
  1. Python library imports such import ignition.math and from ignition import math should be replaced with import gz.math7 and from gz import math7. Note the change from ignition to gz and the addition of the major version number as a suffix to the package name.

Deprecations

  1. Angle.hh

    • All mutator functions that lacked a Set prefix have been deprecated and replaced by version with a Set prefix.

  2. SphericalCoordinates.hh

    • Deprecation: public: static double Distance(const Angle&, const Angle&, const Angle&, const Angle&)
    • Replacement: public: static double DistanceWGS84(const Angle&, const Angle&, const Angle&, const Angle&)

  3. Matrix3.hh

    • Deprecation: public: void Axes(const Vector3 &, const Vector3 &, const Vector3 &)

    • Replacement: public: void SetAxes(const Vector3 &, const Vector3 &, const Vector3 &)

    • Deprecation: public: void Axis(const Vector3 &, T)

    • Replacement: public: void SetFromAxisAngle(const Vector3 &, T)

    • Deprecation: public: void From2Axes(const Vector3 &, const Vector3 &)

    • Replacement: public: void SetFrom2Axes(const Vector3 &, const Vector3 &)

    • Deprecation: public: void Col(unsigned int, const Vector3 &)

    • Replacement: public: void SetCol(unsigned int, const Vector3 &)

  4. Pose3.hh

    • The addition operators + and += are deprecated in favor of multiplication operators * and *=, though the order of operands is reversed (A + B = B * A).
    • The unitary negation operator - is deprecated in favor of the Inverse() method.
    • The subtraction operators - and -= are deprecated in favor of multiplication by an inverse, though the order of operands is reversed (A - B = B.Inverse() * A).

  5. Quaternion.hh

    • Deprecation: public: void Axis(T, T, T, T)
    • Replacement: public: void SetFromAxisAngle(T, T, T, T)
    • Deprecation: public: void Axis(const Vector3&, T)
    • Replacement: public: void SetFromAxisAngle(const Vector3&, T)
    • Deprecation: public: void Euler(const Vector3 &)
    • Replacement: public: void SetFromEuler(const Vector3 &)
    • Deprecation: public: void Euler(T, T, T)
    • Replacement: public: void SetFromEuler(T, T, T)
    • Deprecation: public: void ToAxis(Vector3 &, T &) const
    • Replacement: public: void void AxisAngle(Vector3 &, T &) const
    • Deprecation: public: void Matrix(const Matrix3 &)
    • Replacement: public: void SetFromMatrix(const Matrix3 &)
    • Deprecation: public: void From2Axes(const Vector3 &, const Vector3 &)
    • Replacement: public: void SetFrom2Axes(const Vector3 &, const Vector3 &)
    • Deprecation: public: void X(T)
    • Replacement: public: void SetX(T)
    • Deprecation: public: void Y(T)
    • Replacement: public: void SetY(T)
    • Deprecation: public: void Z(T)
    • Replacement: public: void SetZ(T)
    • Deprecation: public: void W(T)
    • Replacement: public: void SetW(T)

  6. The ignition namespace is deprecated and will be removed in future versions. Use gz instead.

  7. Header files under ignition/... are deprecated and will be removed in future versions. Use gz/... instead.

  8. The following IGN_ prefixed macros are deprecated and will be removed in future versions. Additionally, they will only be available when including the corresponding ignition/... header. Use the GZ_ prefix instead.

    1. IGN_RTOD, IGN_DTOR
    2. IGN_NORMALIZE
    3. IGN_PI, IGN_PI_2, IGN_PI_4
    4. IGN_SQRT2
    5. IGN_FP_VOLATILE
    6. IGN_SPHERE_VOLUME, IGN_CYLINDER_VOLUME, IGN_BOX_VOLUME, IGN_BOX_VOLUME_V
    7. IGN_MASSMATRIX3_DEFAULT_TOLERANCE

  9. All IGN_*_SIZE_T variables are deprecated and will be removed in future versions. Please use GZ_*_SIZE_T instead.

Modifications

  1. The out stream operator is guaranteed to return always plain 0 and not to return -0, 0.0 or other instances of zero value.

Gazebo Math 6.9.2 to 6.10.0

  1. Color::HSV(): A bug related to the hue output of this function was fixed.

Gazebo Math 6.8 to 6.9

  1. SphericalCoordinates: A bug related to the LOCAL frame was fixed. To preserve behaviour, the LOCAL frame was left with the bug, and a new LOCAL2 frame was introduced, which can be used to get the correct calculations.

Gazebo Math 4.X to 5.X

Additions

  1. MassMatrix.hh

    • Epsilon(const T), Epsilon(const Vector3, const T) return relative tolerance proportional to machine precision and largest possible moment of inertia.
    • IsNearPositive(const T) is similar to IsPositive(const T) but it checks for positive semidefinite inertia using >= instead of >.

  2. Plane.hh

    • Added copy constructor.

  3. Pose3.hh

    • Added *= operator.

Breaking Changes

  1. The Box class has been changed to a templatized class that is not axis-aligned. The previous Box functionality is now in the AxisAlignedBox class.

  2. The behavior of Pose3 multiplication operator * has been changed to match behavior of Matrix and Quaternion multiplication.

Modifications

  1. Inertial.hh
    • SetMassMatrix now accepts a relative tolerance parameter.
  2. MassMatrix.hh
    • IsPositive, IsValid, ValidMoments now accept a relative tolerance parameter based on Epsilon function.
    • IsValid now uses IsNearPositive instead of IsPositive
    • ValidMoments now uses >= in comparisons instead of >

Deprecations

  1. MassMatrix3.hh
    • All mutator functions that lacked a Set prefix have been deprecated and replaced by version with a Set prefix.
    • The MOI functions have been renamed to Moi.
  2. Inertial.hh
    • The MOI functions have been renamed to Moi.

Gazebo Math 3.X to 4.X

Added dependencies

  1. gz-cmake
    • gz-math now has a build dependency on gz-cmake, which allows cmake scripts to be shared across all the Gazebo packages.

Modifications

  1. Box.hh

    • Boxes generated with the default constructor do not intersect any other boxes or contain any points (previously they contained the origin).

  2. Helpers.hh

    • parseInt and parseFloat functions now use std::stoi and std::stod, so parsing an alphanumeric string that starts with numbers no longer returns a NaN, but instead the beginning of the string is parsed (e.g. ("23ab67" -> 23) now, but ("ab23ab67" -> NaN) still).

  3. SemanticVersion.hh

    • The SemanticVersion(const std::string &) constructor is now explicit.

  4. All Headers

    • All headers now have an inline versioned namespace. Code should be unchanged except all forward declarations of math types must be replaced with an include of the header for that type.

Deprecations

  1. Matrix4.hh

    • Deprecation: public: void Translate(const Vector3 &_t)

    • Replacement: public: void SetTranslation(const Vector3 &_t)

    • Deprecation: public: void Translate(T _x, T _y, T _z)

    • Replacement: public: void SetTranslation(T _x, T _y, T _z)

Gazebo Math 2.X to 3.X

Modifications

  1. RotationSpline.hh

    • The UpdatePoint function now returns a boolean value.

  2. Spline.hh

    • The UpdatePoint function now returns a boolean value.

Deprecations

  1. Matrix4.hh

    • Deprecation: public: Vector3 TransformAffine(const Vector3 &_v) const
    • Replacement: public: bool TransformAffine(const Vector3 &_v,Vector3 &_result) const

  2. Helpers.hh

    • Deprecation: IGN_DBL_MAX

    • Replacement: gz::math::MAX_D

    • Deprecation: IGN_DBL_MIN

    • Replacement: gz::math::MIN_D

    • Deprecation: IGN_DBL_LOW

    • Replacement: gz::math::LOW_D

    • Deprecation: IGN_DBL_INF

    • Replacement: gz::math::INF_D

    • Deprecation: IGN_FLT_MAX

    • Replacement: gz::math::MAX_F

    • Deprecation: IGN_FLT_MIN

    • Replacement: gz::math::MIN_F

    • Deprecation: IGN_FLT_LOW

    • Replacement: gz::math::LOW_F

    • Deprecation: IGN_FLT_INF

    • Replacement: gz::math::INF_F

    • Deprecation: IGN_UI16_MAX

    • Replacement: gz::math::MAX_UI16

    • Deprecation: IGN_UI16_MIN

    • Replacement: gz::math::MIN_UI16

    • Deprecation: IGN_UI16_LOW

    • Replacement: gz::math::LOW_UI16

    • Deprecation: IGN_UI16_INF

    • Replacement: gz::math::INF_UI16

    • Deprecation: IGN_I16_MAX

    • Replacement: gz::math::MAX_I16

    • Deprecation: IGN_I16_MIN

    • Replacement: gz::math::MIN_I16

    • Deprecation: IGN_I16_LOW

    • Replacement: gz::math::LOW_I16

    • Deprecation: IGN_I16_INF

    • Replacement: gz::math::INF_I16

    • Deprecation: IGN_UI32_MAX

    • Replacement: gz::math::MAX_UI32

    • Deprecation: IGN_UI32_MIN

    • Replacement: gz::math::MIN_UI32

    • Deprecation: IGN_UI32_LOW

    • Replacement: gz::math::LOW_UI32

    • Deprecation: IGN_UI32_INF

    • Replacement: gz::math::INF_UI32

    • Deprecation: IGN_I32_MAX

    • Replacement: gz::math::MAX_I32

    • Deprecation: IGN_I32_MIN

    • Replacement: gz::math::MIN_I32

    • Deprecation: IGN_I32_LOW

    • Replacement: gz::math::LOW_I32

    • Deprecation: IGN_I32_INF

    • Replacement: gz::math::INF_I32

    • Deprecation: IGN_UI64_MAX

    • Replacement: gz::math::MAX_UI64

    • Deprecation: IGN_UI64_MIN

    • Replacement: gz::math::MIN_UI64

    • Deprecation: IGN_UI64_LOW

    • Replacement: gz::math::LOW_UI64

    • Deprecation: IGN_UI64_INF

    • Replacement: gz::math::INF_UI64

    • Deprecation: IGN_I64_MAX

    • Replacement: gz::math::MAX_I64

    • Deprecation: IGN_I64_MIN

    • Replacement: gz::math::MIN_I64

    • Deprecation: IGN_I64_LOW

    • Replacement: gz::math::LOW_I64

    • Deprecation: IGN_I64_INF

    • Replacement: gz::math::INF_I64