1.3.0

1.3.0 (2024-08-30)

• API changes:
  • Added override for all derived methods
  • Removed redefinition of virtual in derived classes
  • cisstParameterTypes: prmJointType is now cmnJointType and JSON serialization now uses the string value (not enum number)
• Deprecated features:
  • cisstParameterTypes: removed all classes related to transformation graph
• New features
  • cisstDataGenerator: added support for enum in global scope, fix for override
  • cisstParameterTypes: added types prmImageFrame, prmCameraInfo and prmDepthMap.h
  • cisstRobot:
    • Gravity can be declared as vector
    • Uses cmnJointType
• Bug fixes:
  • CMake:
    • cisst_offer_saw_component updated to search for component or core (new SAW directory structure)
  • cisstMultiTask:
    • Fix for mtsManagerLocal.GetInstance
  • cisstParameterTypes:
    • More CISST_EXPORT for Windows
    • Added new data types for SWIG wrapping
    • Fixed prmActuatorState::ToStream
    • Added missing break in prmOperatingState.cpp
  • Fixed some GitHub actions/workflows

1.2.1

1.2.1 (2022-12-29)

• API changes:
  • CMake find_package now uses CMake COMPATIBILITY SameMajorVersion, older code used custom version check equivalent to SameMinorVersion
• Deprecated features:
  • cisstNumerical: polynomial is not compiled by default, set CISST_NMR_COMPILE_POLYNOMIALS if these are needed. We plan to remove this code in later releases
• Bug fixes:
  • cisstDataGenerator: fixed export for enums and static methods
  • cisstNumerical: for OS requiring CLAPACK, cisstNetlib now uses a fork that has been updated to support recent C/C++ compilers
  • Fixed some GitHub actions/workflows

1.2.0

1.2.0 (2022-11-21)

• API changes:
  • None
• Deprecated features:
  • cisstNetlib DOWNLOAD_NOW has been removed, cisstNetlib has to be compiled by the user. The process is automatic with ROS1/catkin and ROS2/colcon
  • ICE support has been removed
  • CISST_VERSION is now cisst_VERSION
• New features:
  • CMake:
    • Updated install targets and debian packages generation
    • Works with ROS2/colcon
    • New CMake macros to simplify CMakeLists.txt for SAW components
  • cisstCommon:
    • cmnCommandLineOptions:
      • Overloaded Parse method to display the error message and usage if needed
      • Overloaded Parse methods to support std::vectorstd::string
    • cmnPath: added static method RenameFile
  • cisstOSAbstraction: added definition for baud rates 230400 and 460800 for osaSerialPort
  • cisstVector:
    • vctDataFunctionsTransformationsJSON: normalize rotation matrices after de-serialization
    • Added c{,r}{begin,end} for dynamic vectors
  • cisstMultiTask:
    • Uses "new" features by default
    • Added mtsStateTableFilter and mtsInterfaceProvided::AddCommandFilteredReadState
    • mtsInterfaceProvided: added method to get class services for argument types
  • cisstParameterTypes:
    • Added prmForceCartesianGetQtWidget
    • Ported prmForceTorqueJointSet to use cisstDataGenerator
    • Added data typed for kinematics queries
• Bug fixes:
  • General: fixes for new compilers warnings
  • CMake:
    • Improved DirectShow Find Module for Windows 10 SDKs (#85)
    • cisstMacros.cmake:
      • Added missing executable output path in cisst_set_output_path
      • Set CMake policy CMP0026 to OLD
      • Fixed CMake for Qt5 using Qt5::
  • cisstDataGenerator:
    • Fixed enum defined under namespace
  • cisstMultiTask:
    • Added missing mtsComponentConstructorArg
  • cisstParameterTypes:
    • Fixed data member initialization in .cdg files (prmPositionCartesianSet, prmVelocityCartesianSet, prmCartesianImpedanceGains, prmPositionJointSet, prmStateJoint...)
  • cisstMesh:
    • Added missing CISST_EXPORT

1.1.0

1.1.0 (2021-04-04)

• API changes:
  • Names of some commands and events in cisstMultiTask changed to match CRTK convention. See directory "utils/crtk-port"
• Deprecated features:
  • None
• New features:
  • General:
    • Added cisstMesh library (see README.md in cisstMesh directory)
    • OS/compiler support: Mac OS Clang 12, Ubuntu 20.04 gcc 9, Visual Studio 2019
    • Github CI with workflows for Ubuntu 16.04, 18.04 and 20.04, Windows and macOS
    • Using Numpy 1.7 for SWIG wrappers
    • Qt: support for "dark mode" for non Qt window managers
    • Support build against OS installed JsonCpp vs CMake external project
    • cisstNetlib DOWNLOAD_NOW uses new URL (https://dvrk.lcsr.jhu.edu)
  • cisstVector:
    • Added more Euler rotations: ZXZ, YZX, ZYX... and unit tests
    • Added vctPose3DQtWidget
    • vctPlot2D Qt widget displays range in window
  • cisstMultiTask:
    • Added callback to interval statistics
    • Added suggestions for missing interfaces/commands/events when trying to connect non-existing interfaces/command/event
    • Added mtsDelayedConnections class
    • Added virtual method mtsComponent::ConfigureJSON to adjust log level per component
  • cisstRobot:
    • Added support for gravity compensation for robManipulator with under actuated robot (e.g. dVRK ECM)
    • Added methods to set/get maximum force/torque, names, type using vectors for robManipulator
    • Added method to remove tool and truncate kinematic chain (robManipulator)
    • Added robManipulator::LastError to get human readable message
  • cisstParameterTypes:
    • Added prmConfigurationJoint, prmPositionCartesianArrayGet{QtWidget}
    • Added prmPositionJointSetQtWidget, prmPositionCartesianGetQtWidgetFactory
    • Added prmInputDataConverter
• Bug fixes:
  • CMake:
    • Added some missing files for "clean" target
    • Added .so version, can now generate debian packages
  • cisstCommon:
    • Fixed CMake dependency for data generator, would occasionally fail to build in parallel
    • Fixed data generator to avoid multiple #include for cisstMultiTask proxies
  • cisstOSAbstraction:
  • cisstNumerical:
    • Fixed slack implementation in nmrConstraintOptimizer
    • Added missing CISST_EXPORT for nmrSymmetricEigenProblem
  • cisstMultiTask:
    • Limit number of commands processed in mailbox for one call to avoid dequeing as long as other component queues
    • Fixed race condition in mtsEventReceiverWrite::EventHandler
    • Fixed old bug that prevented to use std::string or size_t in state table with accessors
    • Fixed support for MTS_OPTIONAL when adding event observer for required interfaces
    • Fixed mtsManagerLocal::WaitForStateAll to not wait for tasks with ExecIn
  • cisstParameterTypes:
    • Fixed cisstParameterTypes.i
  • cisstRobot:
    • Fixed name of field "ftmax" in Json loading
    • Marked more methods as virtual
    • Fixed bug applying tool transform even if only part of forward kinematic was evaluated

1.0.11

1.0.11 (2019-04-09)

• API changes:
  • None
• Deprecated features:
  • None
• New features:
  • General:
    • Updated jsoncpp version when using external project
    • By default, look for jsoncpp installed with OS on Linux
    • Added Ubuntu 16.04 for travis
  • cisstCommon:
    • cisstConfig: added CISST_EXECUTABLE_SUFFIX
    • cmnPath::Executable to create OS dependent executable name
    • cmnPath: added DeleteFile static method
    • cmnLogger: added method to set/get default log file name
  • cisstVector:
    • vctMatrixRotation3: constructor from BaseType is now implicit
    • Rotation and vector widgets: added key press to reset orientation
    • Dynamic vector and matrices: exception message for size mismatch now includes expected and received sizes
  • cisstMultiTask:
    • mtsManagerLocal: added RemoveAllUserComponents
    • mtsManagerLocal: added ConfigureJSON(filename)
    • mtsManagerLocal: better error messages if dynamic creation fails
    • mtsTask: State tables now advance once in Startup method (if automatic)
  • cisstRobot:
    • robManipulator: added methods Set/GetJointLimits using vectors
  • cisstParameterTypes:
    • prmForceCartesianGet: added MovingFrame string member
    • prmOperatingState: added type and widget for crtk compatibility
    • prmInputDataQtWidget: new widget
• Bug fixes:
  • cisstCommon:
    • Tests: fixed CMake dependency on JSON libraries
    • Tests: fixed strings for newer Windows compilers and OSs
    • cisstDataGenerator: fixed human readable output
  • cisstOSAbstraction:
    • Tests: use PATH variable to locate osaPipeExec test program
    • osaPipeExec: new Windows implementation for noWindow case
    • osaPipeExec: fixed resource leak
    • osaSocketServer: fix for Windows (based on feedback from dlrdave)
  • cisstMultiTask:
    • mtsCommand: fixed infinite recursion in Execute methods
    • mtsIntervalStatistics: set as valid
    • Tests: multiple fixes to better control creation of component manager and clear component manager
  • cisstParameterTypes:
    • prmEventTypeQtWidget: use switch statement to handle all possible event types

1.0.10

1.0.10 (2018-05-16)

• API changes:
  • cisstCommon:
    • cmnPrintf: removed downcast to boolean for cmnPrintfParser, this was not used and required different implementations for different compilers
    • cmnAssert: from now on, CMN_ASSERT is not defined when NDEBUG is defined. This behavior mimics assert().
  • cisstMultiTask: mtsIntervalStatistics, renamed accessors and added statistics for computing time
• Deprecated features:
  • None
• New features:
  • cisstCommon:
    • cmnPortability: added CISST_THROW to dynamically specify exception or skip since this is being deprecated in newer C++ standards. Added unit test for python wrappers to make sure CISST_THROW specify exception for swig.
    • cmnPortability: use std::isnan and std::isfinite when available (see also cisstConfig.h)
    • cmnPrintf: added unit test, removed downcast to boolean for cmnPrintfParser
    • cmnAssert: CMN_ASSERT not defined when NDEBUG is defined, fixed usage accross cisst libraries
    • cmnQt::QApplicationExistOnCtrlC helper function to quit QApplication on ctrl+c
  • cisstVector:
    • vctVector3DQtWidget: widget to display a single 3D vector (used for 3D force/torque)
    • vctForceTorqueQtWidget: widget to display 3D force/torque as text, 2D graph or 3D vector
    • Fixed Qt widgets to display frame/3D vector to display reference frame, user can change orientation using mouse. Added SetPrismaticRevoluteFactors to display in mm/degrees
  • cisstDataGenerator:
    • Added "deprecated" keyword for data members
  • cisstOSAbstraction
    • osaPipeExec: added noWindow parameter to Open method. The default setting is false, which is backward-compatible. On Microsoft Windows, setting it to true prevents the display of a console window. This parameter is ignored on other operating systems
  • cisstMultiTask:
    • mtsIntervalStatistics: added statistics re. average computation time and overruns wrt previous time window, updated Qt widget and added conversion method to ROS messages (cisst-ros)
    • Fixed SWIG code for Python 3
  • cisstRobot:
  • cisstParameterTypes:
    • prmPositionJointSet: use data generator
    • prmVelocityCartesianGet: use data generator, added moving/reference frame
    • Added prmJointType, prismatic or revolute
    • prmStateJoint: added vector of joint types. In Qt widget, added SetPrismaticRevoluteFactors used to display in mm/degrees
    • prmPositionCartesianGetQtWidget: displays frame using cisstVector frame widget, timestamp, valid flag and moving/reference frame names. Added SetPrismaticRevoluteFactors to display in mm/degrees.
• Bug fixes:
  • Re-ordered function declaration in CMN_IMPLEMENT_SERVICES_TEMPLATED_INTERNAL for clang 9.0/MacOS
  • Fixed some variable initialization based on valgrind warnings

1.0.9

1.0.9 (2017-11-07)

• API changes:
  • cisstMultiTask: mtsQtWidgetIntervalStatistics renamed mtsIntervalStatisticsQtWidget
  • cisstParameterTypes:
    • prmFixtureGainCartesianSet renamed prmCartesianImpedanceGains
    • changed reference/moving frame from pointer to strings for cartesian set/get payloads
  • CMake defaults:
    • cisstStereoVision off by default
    • cisstMultiTask ICE off by default
    • cisstJSON on by default
• Deprecated features:
  • None
• New features:
  • CMake: can now bypass the FindCisstNetlib provided with cisst. Used to find local cisstNetlib config file.
  • cisstCommon:
    • cmnPath: added method SharedLibrary to generate dynamic library name based on OS
    • cmnStrings: added cmnStringsReplaceAll
    • XML: added method Exists(path) and fix for compilation with Qt5/Windows
  • cisstVector:
    • added SetSize method with default value for all elements
  • cisstDataGenerator:
    • added support to serialize/de-serialize from JSON
    • changed internal variable names to avoid possible conflicts with user provided names
  • cisstNumerical: CMake option to force using a local install with config.cmake file
  • cisstMultiTask:
    • added methods to configure component manager using JSON values
    • use cisstDataGenerator for component constructor arguments (allows JSON)
    • fixed incorrect error messages when optional interface/command was not found
    • added mtsMessage type and methods to emit status/warning/error events from provided interface
    • added mtsMessage, mtsIntervalStatistics and mtsSystem Qt Widget/Component
    • updated Qt widget to save space
  • cisstRobot: added wrapper for Reflexxes RML, builds Reflexxes as CMake External project
  • cisstParameterTypes:
    • added type prmInputData for DAQ
    • added Qt widget for prmStateJoint
    • actuator coupling message now only requires the actuator to joint position matrix
  • External projects: created https://github.com/jhu-cisst-external to host clones of Reflexxes, jsoncpp and cppunit
• Bug fixes:
  • cisstCommon: cmnRandomSequence, fixed ExtractRandomPermutation
  • Qt: updated OpenGL base widget when using Qt5 (now using QOpenGLWidget)
  • CMake: fixed search for QtXml when using Qt5

1.0.8

1.0.8 (2016-08-30)

• API changes:
  • cisstDataGenerator: use std::vector instead of std::list for possible enum values/strings
• Deprecated features:
  • None
• New features:
  • cisstNumerical: nmrRegistrationRigid Python wrapper
• Bug fixes:
  • cisstVector: fixed bug in RowPointers methods for dynamic matrices
  • cisstOSAbstraction: fix serial port name on Windows when number greater than 9
  • CMake: fixed configure_file @only
  • CMake: set messages as STATUS for informational messages
  • CMake: cisstStereoVision looks explicitly for OpenCV 2

1.0.7

1.0.7 (2016-05-16)

• API changes:
  • None
• Deprecated features:
  • None
• New features:
  • CMake: added -fPIC for external projects, now compiles with clang on Ubuntu 12.04 and 14.04
  • CMake: modifications to use find_package instead of cisst_find_saw_components
  • cisstDataGenerator:
    • Added methods to generate lists of enum values/strings
    • Destructor can now be virtual to avoid warnings if user adds virtual methods
  • cisstNumerical: added nmrLinearRegression
  • cisstRobot:
    • Added accessor to modify position offsets in robJoint
    • Now partially wrapped using SWIG
• Bug fixes:
  • cisstCommon: fix major bug in CMN_LOG macros (#45)
  • cisstCommon: cmnTypeTraits, added some missing specializations for unsigned long

1.0.6

1.0.6 (2016-01-08)

• API changes:
  • None
• Deprecated features:
  • None
• New features:
  • Added prmActuatorJointCoupling
  • mtsComponent: added GetIndexReader for default state table
• Bug fixes:
  • robManipulator: initialize data members Jn and Js
  • cmnAccessorMacros: added missing const on Get method