pxmlw6n2f/Gazebo_Distributed/Migration.md

Note on deprecations

A tick-tock release cycle allows easy migration to new software versions. Obsolete Gazebo 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 7.10.0 to 7.X

Modifications

1. Shadows ambient factor has been reduced - they will now appear darker than before. Also increased shadow texture resolution and reduced effect of jagged shadow edges. Please see Pull request 2805 for more details.

Gazebo 7.9.0 to 7.X

Modifications

1. gazebo/physics/ode/ODEPhysics.cc ODEPhysics::Collide combines surface slip parameters with a sum instead of std::min. Please see Pull request 2717 for more details.

Gazebo 7.8.0 to 7.X

Modifications

1. gz log Gazebo log files no longer store velocity data and have reduced floating point precision. See pull request 2715 for further details.

Gazebo 7.3.1 to 7.X

Deprecations

1. gazebo/sensors/ImuSensor.hh
   • *Deprecation: public: void SetWorldToReferencePose(const ignition::math::Pose3d &)
   • *Replacement: public: void SetWorldToReferenceOrientation(const ignition::math::Quaterniond &)

Gazebo 7.1.0 to 7.X

Additions

1. gazebo/physics/ode/ODEJoint.hh

   • public: virtual void Fini();

2. gazebo/physics/bullet/BulletJoint.hh

   • public: virtual void Fini();

Deprecations

1. gazebo::common::VisualPlugin The custom inner xml inside visual plugins used to be wrapped in an extra tag. Now the inner xml should be accessed directly from the plugin's sdf. For example, for the following plugin:

      <visual ...>
        <plugin ...>
          <param>true</param>
        </plugin>
      </visual>
   

   should be accessed with:

      auto param = _sdf->GetElement("param");
   

   The old behaviour is still supported on Gazebo7, that is:

      auto param = _sdf->GetElement("sdf")->GetElement("param");
   

   but this behaviour will be removed on Gazebo8.

   • pull request #2394

Gazebo 6.X to 7.X

Additions

1. gazebo/physics/Model.hh

   • public: gazebo::physics::JointPtr CreateJoint( const std::string &_name, const std::string &_type, physics::LinkPtr _parent, physics::LinkPtr _child);
   • public: bool RemoveJoint(const std::string &_name);
   • public: boost::shared_ptr shared_from_this();

2. gazebo/physics/SurfaceParams.hh

   • public: double PoissonsRatio() const;
   • public: void SetPoissonsRatio(double _ratio);
   • public: double ElasticModulus() const;
   • public: void SetElasticModulus(double _modulus);

Modifications

1. gazebo/sensor/SensorTypes.hh

   • All typedef's of shared_ptr's to Sensor's are changed from boost::shared_ptr to std::shared_ptr. Any downstream code that does a pointer cast (such as dynamic_pointer_cast or static_pointer_cast) will need to switch from boost::*_pointer_cast to std::*_pointer_cast.
   • pull request #2079

2. gazebo/sensors/Sensor.hh

   • Removed: public: template event::ConnectionPtr ConnectUpdated(T _subscriber);
   • Replacement: public: event::ConnectionPtr ConnectUpdated(std::function<void()> _subscriber);

3. gazebo/rendering/GpuLaser.hh

   • Removed: public: void SetCameraCount(double _cameraCount);
   • Replacement: public: void SetCameraCount(const unsigned int _cameraCount);
   • Removed: public: template event::ConnectionPtr ConnectNewLaserFrame(T _subscriber);
   • Replacement: public: event::ConnectionPtr ConnectNewLaserFrame(std::function<void (const float *_frame, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)> _subscriber);

4. gazebo/rendering/DepthCamera.hh

   • Removed: public: template event::ConnectionPtr ConnectNewDepthFrame(T _subscriber)
   • Replacement: public: event::ConnectionPtr ConnectNewDepthFrame(std::function<void (const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber);
   • Removed: public: template event::ConnectionPtr ConnectNewRGBPointCloud(T _subscriber)
   • Replacement: public: event::ConnectionPtr ConnectNewRGBPointCloud(std::function<void (const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber);

5. gazebo/physics/Actor.hh

   • Type change of protected: math::Vector3 lastPos; to protected: ignition::math::Vector3d lastPos;

6. gazebo/physics/ContactManager.hh

   • Remove contact filters with names that contain ::. The CreateFilter, HasFilter, and RemoveFilter functions now convert :: strings to / in the filter name before acting. These were not being deleted properly in previous versions.

7. gazebo/rendering/RenderTypes.hh

   • typedefs for Visual and its derived classes have been changed from boost to std pointers.
   • pull request #1924

8. gazebo/gui/model/ModelEditorEvents.hh

   • Removed: public: static event::EventT<void (bool, bool, const math::Pose &, const std::string &)> modelPropertiesChanged
   • Replacement: public: static event::EventT<void (bool, bool)> modelPropertiesChanged
   • Note: Removed last two arguments, model pose and name, from the function

9. gazebo/rendering/Camera.hh

   • Removed: public: void SetClipDist();
   • Replacement: public: virtual void SetClipDist();
   • Removed: public: template event::ConnectionPtr ConnectNewImageFrame(T _subscriber);
   • Replacement: public: event::ConnectionPtr ConnectNewImageFrame(std::function<void (const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber);

10. gazebo/msgs/logical_camera_sensors.proto

    • The near and far members have been replaced with near_clip and far_clip
    • Pull request #1942

11. Light topic

    • Removed: ~/light
    • Replacement: ~/factory/light - for spawning new lights
    • Replacement: ~/light/modify - for modifying existing lights
    • Pull request #1920

12. gazebo/rendering/Visual.hh

    • Removed: public: void SetVisible(bool _visible, bool _cascade = true);
    • Replacement: public: virtual void SetVisible(bool _visible, bool _cascade = true);

13. gazebo/rendering/OribitViewController.hh

    • Removed: public: OrbitViewController(UserCameraPtr _camera);
    • Replacement: public: OrbitViewController(UserCameraPtr _camera, const std::string &_name = "OrbitViewController");

14. gazebo/test/ServerFixture.hh

    • Removed: protected: void RunServer(const std::string &_worldFilename);
    • Removed: protected: void RunServer(const std::string &_worldFilename, bool _paused, const std::string &_physics, const std::vectorstd::string & _systemPlugins = {});
    • Replacement: void ServerFixture::RunServer(const std::vector<:string> &_args)
    • Pull request #1874

15. gazebo/gui/building/BuildingMaker.hh

    • Doesn't inherit from gui::EntityMaker anymore
    • Pull request #1828

16. gazebo/gui/EntityMaker.hh

    • Removed: EntityMaker();
    • Replacement: EntityMaker(EntityMakerPrivate &_dataPtr);
    • Removed: public: virtual void Start(const rendering::UserCameraPtr _camera) = 0;
    • Replacement: public: virtual void Start();
    • Removed: public: virtual void Stop() = 0;
    • Replacement: public: virtual void Stop();

17. gazebo/gui/ModelAlign.hh

    • Removed: public: void AlignVisuals(std::vectorrendering::VisualPtr _visuals, const std::string &_axis, const std::string &_config, const std::string &_target, bool _publish = true);
    • Replacement: public: void AlignVisuals(std::vectorrendering::VisualPtr _visuals, const std::string &_axis, const std::string &_config, const std::string &_target, bool _publish = true, const bool _inverted = false);

18. gazebo/gui/GuiEvents.hh

    • Removed: public: static event::EventT<void (std::string, std::string, std::string, bool)> alignMode; std::string, std::string, bool)> alignMode;
    • Replacement: public: static event::EventT<void (std::string, std::string, std::string, bool)> alignMode; std::string, std::string, bool, bool)> alignMode;

Deprecations

1. gazebo/util/OpenAL.hh

   • Deprecation: public: bool GetOnContact() const;
   • Replacement: public: bool OnContact() const;
   • Deprecation: public: std::vectorstd::string GetCollisionNames() const;
   • Replacement: public: std::vectorstd::string CollisionNames() const;

2. gazebo/util/LogRecord.hh

   • Deprecation: public: bool GetPaused() const;
   • Replacement: public: bool Paused() const;
   • Deprecation: public: bool GetRunning() const;
   • Replacement: public: bool Running() const;
   • Deprecation: public: const std::string &GetEncoding() const;
   • Replacement: public: const std::string &Encoding() const;
   • Deprecation: public: std::string GetFilename(const std::string &_name = "") const;
   • Replacement: public: std::string Filename(const std::string &_name = "") const;
   • Deprecation: public: unsigned int GetFileSize(const std::string &_name = "") const
   • Replacement: public: unsigned int FileSize(const std::string &_name = "") const;
   • Deprecation: public: std::string GetBasePath() const;
   • Replacement: public: std::string BasePath() const;
   • Deprecation: public: common::Time GetRunTime() const;
   • Replacement: public: common::Time RunTime() const;
   • Deprecation: public: bool GetFirstUpdate() const;
   • Replacement: public: bool FirstUpdate() const;
   • Deprecation: public: unsigned int GetBufferSize() const;
   • Replacement: public: unsigned int BufferSize() const;

3. gazebo/rendering/Scene.hh

   • Deprecation: public: Ogre::SceneManager *GetManager() const;
   • Replacement: public: Ogre::SceneManager *OgreSceneManager() const;
   • Deprecation: public: std::string GetName() const;
   • Replacement: public: std::string Name() const;
   • Deprecation: public: common::Color GetAmbientColor() const;
   • Replacement: public: common::Color AmbientColor() const;
   • Deprecation: public: common::Color GetBackgroundColor();
   • Replacement: public: common::Color BackgroundColor() const;
   • Deprecation: public: uint32_t GetGridCount();
   • Replacement: public: uint32_t GridCount() const;
   • Deprecation: public: uint32_t GetOculusCameraCount() const;
   • Replacement: public: uint32_t OculusCameraCount() const;
   • Deprecation: public: uint32_t GetCameraCount() const;
   • Replacement: public: uint32_t CameraCount() const;
   • Deprecation: public: uint32_t GetUserCameraCount() const;
   • Replacement: public: uint32_t UserCameraCount() const;
   • Deprecation: public: uint32_t GetLightCount() const;
   • Replacement: public: uint32_t LightCount() const;
   • Deprecation: public: VisualPtr GetVisualAt(CameraPtr _camera, const math::Vector2i &_mousePos, std::string &_mod)
   • Replacement: public: VisualPtr VisualAt(CameraPtr _camera, const ignition::math::Vector2i &_mousePos, std::string &_mod);
   • Deprecation: public: VisualPtr GetVisualAt(CameraPtr _camera, const math::Vector2i &_mousePos)
   • Replacement: public: VisualPtr VisualAt(CameraPtr _camera, const ignition::math::Vector2i &_mousePos);
   • Deprecation: public: VisualPtr GetVisualBelow(const std::string &_visualName);
   • Replacement: public: VisualPtr VisualBelow(const std::string &_visualName);
   • Deprecation: public: void GetVisualsBelowPoint(const math::Vector3 &_pt, std::vector &_visuals);
   • Replacement: public: void VisualsBelowPoint(const ignition::math::Vector3d &_pt, std::vector &_visuals);
   • Deprecation: public: double GetHeightBelowPoint(const math::Vector3 &_pt);
   • Replacement: public: double HeightBelowPoint(const ignition::math::Vector3d &_pt);
   • Deprecation: public: bool GetFirstContact(CameraPtr _camera, const math::Vector2i &_mousePos, math::Vector3 &_position)
   • Replacement: public: bool FirstContact(CameraPtr _camera, const ignition::math::Vector2i &_mousePos, ignition::math::Vector3d &_position);
   • Deprecation: public: void DrawLine(const math::Vector3 &_start, const math::Vector3 &_end, const std::string &_name)
   • Replacement: public: void DrawLine(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end, const std::string &_name);
   • Deprecation: public: uint32_t GetId() const;
   • Replacement: public: uint32_t Id() const;
   • Deprecation: public: std::string GetIdString() const;
   • Replacement: public: std::string IdString() const;
   • Deprecation: public: bool GetShadowsEnabled() const;
   • Replacement: public: bool ShadowsEnabled() const;
   • Deprecation: public: VisualPtr GetWorldVisual() const;
   • Replacement: public: VisualPtr WorldVisual() const;
   • Deprecation: public: VisualPtr GetSelectedVisual() const;
   • Replacement: public: VisualPtr SelectedVisual() const;
   • Deprecation: public: bool GetShowClouds() const;
   • Replacement: public: bool ShowClouds() const;
   • Deprecation: public: bool GetInitialized() const;
   • Replacement: public: bool Initialized() const;
   • Deprecation: public: common::Time GetSimTime() const;
   • Replacement: public: common::Time SimTime() const;
   • Deprecation: public: uint32_t GetVisualCount() const
   • Replacement: public: uint32_t VisualCount() const;

4. gazebo/rendering/DepthCamera.hh

   • Deprecation: public: virtual const float *GetDepthData();
   • Replacement: public: virtual const float *DepthData() const;

5. gazebo/rendering/Heightmap.hh

   • Deprecation: public: double GetHeight(double _x, double _y, double _z = 1000);
   • Replacement: public: double Height(const double _x, const double _y, const double _z = 1000) const;
   • Deprecation: public: bool Flatten(CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight = 0.1)
   • Replacement: public: bool Flatten(CameraPtr _camera, const ignition::math::Vector2i &_mousePos, const double _outsideRadius, const double _insideRadius, const double _weight = 0.1);
   • Deprecation: public: bool Smooth(CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight = 0.1);
   • Replacement: public: bool Smooth(CameraPtr _camera, const ignition::math::Vector2i &_mousePos, const double _outsideRadius, const double _insideRadius, const double _weight = 0.1);
   • Deprecation: public: bool Raise(CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight = 0.1)
   • Replacement: public: bool Raise(CameraPtr _camera, const ignition::math::Vector2i &_mousePos, const double _outsideRadius, const double _insideRadius, const double _weight = 0.1)
   • Deprecation: public: bool Lower(CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight = 0.1)
   • Replacement: public: bool Lower(CameraPtr _camera, const ignition::math::Vector2i &_mousePos, const double _outsideRadius, const double _insideRadius, const double _weight = 0.1)
   • Deprecation: public: double GetAvgHeight(Ogre::Vector3 _pos, double _brushSize);
   • Replacement: public: double AvgHeight(const ignition::math::Vector3d &_pos, const double _brushSize) const
   • Deprecation: public: Ogre::TerrainGroup *GetOgreTerrain() const;
   • Replacement: public: Ogre::TerrainGroup *OgreTerrain() const;
   • Deprecation: public: common::Image GetImage() const;
   • Replacement: public: public: common::Image Image() const;
   • Deprecation: public: Ogre::TerrainGroup::RayResult GetMouseHit(CameraPtr _camera, math::Vector2i _mousePos);
   • Replacement: public: Ogre::TerrainGroup::RayResult MouseHit(CameraPtr _camera, const ignition::math::Vector2i &_mousePos) const;
   • Deprecation: public: unsigned int GetTerrainSubdivisionCount() const;
   • Replacement: public: unsigned int TerrainSubdivisionCount() const;

6. gazebo/rendering/RenderEngine.hh

   • Deprecation: public: unsigned int GetSceneCount() const;
   • Replacement: public: unsigned int SceneCount() const;
   • Deprecation: public: Ogre::OverlaySystem *GetOverlaySystem() const;
   • Replacement: public: Ogre::OverlaySystem *OverlaySystem() const;

7. gazebo/rendering/GpuLaser.hh

   • Deprecation: public: const float *GetLaserData();
   • Replacement: public: const float *LaserData() const;
   • Deprecation: public: double GetHorzHalfAngle() const;
   • Replacement: public: double HorzHalfAngle() const;
   • Deprecation: public: double GetVertHalfAngle() const;
   • Replacement: public: double VertHalfAngle() const;
   • Deprecation: public: double GetHorzFOV() const;
   • Replacement: public: double HorzFOV() const;
   • Deprecation: public: double GetCosHorzFOV() const;
   • Replacement: public: double CosHorzFOV() const;
   • Deprecation: public: double GetVertFOV() const;
   • Replacement: public: double VertFOV() const;
   • Deprecation: public: double GetCosVertFOV() const;
   • Replacement: public: double CosVertFOV() const;
   • Deprecation: public: double GetNearClip() const;
   • Replacement: public: double NearClip() const;
   • Deprecation: public: double GetFarClip() const;
   • Replacement: public: double FarClip() const;
   • Deprecation: public: double CameraCount() const;
   • Replacement: public: unsigned int CameraCount() const;
   • Deprecation: public: double GetRayCountRatio() const;
   • Replacement: public: double RayCountRatio() const;

8. gazebo/rendering/DynamicLines.hh

   • Deprecation: public: void AddPoint(const math::Vector3 &_pt,const common::Color &_color = common::Color::White)
   • Replacement: public: void AddPoint(const ignition::math::Vector3d &_pt,const common::Color &_color = common::Color::White);
   • Deprecation: public: void SetPoint(unsigned int _index, const math::Vector3 &_value)
   • Replacement: public: void SetPoint(unsigned int _index,const ignition::math::Vector3d &_value);
   • Deprecation: public: math::Vector3 GetPoint(unsigned int _index) const
   • Replacement: public: ignition::math::Vector3d Point(const unsigned int _index) const;

9. gazebo/rendering/WindowManager.hh

   • Deprecation: public: uint32_t GetAvgFPS(uint32_t _id);
   • Replacement: public: uint32_t AvgFPS(const uint32_t _id) const;
   • Deprecation: public: uint32_t GetTriangleCount(uint32_t _id);
   • Replacement: public: uint32_t TriangleCount(const uint32_t _id) const;
   • Deprecation: public: Ogre::RenderWindow *GetWindow(uint32_t _id);
   • Replacement: public: Ogre::RenderWindow *Window(const uint32_t _id) const;

10. gazebo/rendering/Light.hh

    • Deprecation: public: std::string GetName() const;
    • Replacement: public: std::string Name() const;
    • Deprecation: public: std::string GetType() const;
    • Replacement: public: std::string Type() const;
    • Deprecation: public: public: void SetPosition(const math::Vector3 &_p);
    • Replacement: public: void SetPosition(const ignition::math::Vector3d &_p);
    • Deprecation: public: math::Vector3 GetPosition();
    • Replacement: public: ignition::math::Vector3d Position() const;
    • Deprecation: public: void SetRotation(const math::Quaternion &_q);
    • Replacement: public: void SetRotation(const ignition::math::Quaterniond &_q);
    • Deprecation: public: math::Quaternion GetRotation() const;
    • Replacement: public: ignition::math::Quaterniond Rotation() const;
    • Deprecation: public: bool GetVisible() const;
    • Replacement: public: bool Visible() const;
    • Deprecation: public: common::Color GetDiffuseColor() const;
    • Replacement: public: common::Color DiffuseColor() const;
    • Deprecation: public: common::Color GetSpecularColor() const;
    • Replacement: public: common::Color SpecularColor() const;
    • Deprecation: public: void SetDirection(const math::Vector3 &_dir);
    • Replacement: public: void SetDirection(const ignition::math::Vector3d &_dir);
    • Deprecation: public: math::Vector3 GetDirection() const;
    • Replacement: public: ignition::math::Vector3d Direction() const;

11. gazebo/util/Diagnostics.hh

    • Deprecation: public: int GetTimerCount() const;
    • Replacement: public: int TimerCount() const;
    • Deprecation: public: common::Time GetTime(int _index) const;
    • Replacement: public: common::Time Time(const int _index) const;
    • Deprecation: public: common::Time GetTime(const std::string &_label) const;
    • Replacement: public: common::Time Time(const std::string &_label) const;
    • Deprecation: public: std::string GetLabel(int _index) const;
    • Replacement: public: std::string Label(const int _index) const;
    • Deprecation: public: boost::filesystem::path GetLogPath() const
    • Replacement: public: boost::filesystem::path LogPath() const;

12. gazebo/sensors/CameraSensor.hh

    • *Deprecation: public: virtual std::string GetTopic() const;
    • *Replacement: public: virtual std::string Topic() const;
    • *Deprecation: public: rendering::CameraPtr GetCamera() const
    • *Replacement: public: rendering::CameraPtr Camera() const;
    • *Deprecation: public: unsigned int GetImageWidth() const;
    • *Replacement: public: unsigned int ImageWidth() const;
    • *Deprecation: public: unsigned int GetImageHeight() const;
    • *Replacement: public: unsigned int ImageHeight() const;
    • *Deprecation: public: const unsigned char *GetImageData();
    • *Replacement: const unsigned char *ImageData() const;

13. gazebo/util/LogPlay.hh

    • Deprecation: public: std::string GetLogVersion() const;
    • Replacement: public: std::string LogVersion() const;
    • Deprecation: public: std::string GetGazeboVersion() const;
    • Replacement: public: std::string GazeboVersion() const;
    • Deprecation: public: uint32_t GetRandSeed() const
    • Replacement: public: uint32_t RandSeed() const;
    • Deprecation: public: common::Time GetLogStartTime() const;
    • Replacement: public: common::Time LogStartTime() const;
    • Deprecation: public: common::Time GetLogEndTime() const;
    • Replacement: public: common::Time LogEndTime() const;
    • Deprecation: public: std::string GetFilename() const;
    • Replacement: public: std::string Filename() const;
    • Deprecation: public: std::string GetFullPathFilename() const;
    • Replacement: public: std::string FullPathFilename() const;
    • Deprecation: public: uintmax_t GetFileSize() const
    • Replacement: public: uintmax_t FileSize() const;
    • Deprecation: public: unsigned int GetChunkCount() const;
    • Replacement: public: unsigned int ChunkCount() const;
    • Deprecation: public: bool GetChunk(unsigned int _index, std::string &_data);
    • Replacement: public: bool Chunk(const unsigned int _index, std::string &_data) const;
    • Deprecation: public: std::string GetEncoding() const
    • Replacement: public: std::string Encoding() const;
    • Deprecation: public: std::string GetHeader() const
    • Replacement: public: std::string Header() const;
    • Deprecation: public: uint64_t GetInitialIterations() const
    • Replacement: public: uint64_t InitialIterations() const;

14. gazebo/sensors/ContactSensor.hh

    • *Deprecation: public: msgs::Contacts GetContacts() const;
    • *Replacement: public: msgs::Contacts Contacts() const;
    • *Deprecation: public: std::map<std::string, physics::Contact> GetContacts(const std::string &_collisionName);
    • *Replacement: public: std::map<std::string, physics::Contact> Contacts(const std::string &_collisionName) const;

15. gazebo/sensors/DepthCameraSensor.hh

    • *Deprecation: public: rendering::DepthCameraPtr GetDepthCamera() const
    • *Replacement: public: rendering::DepthCameraPtr DepthCamera() const;

16. gazebo/sensors/ForceTorqueSensor.hh

    • *Deprecation: public: virtual std::string GetTopic() const
    • *Replacement: public: virtual std::string Topic() const;
    • *Deprecation: public: physics::JointPtr GetJoint() const;
    • *Replacement: public: physics::JointPtr Joint() const;

17. gazebo/sensors/GpsSensor.hh

    • *Deprecation: public: double GetAltitude();
    • *Replacement: public: double Altitude() const;

18. gazebo/sensors/GpuRaySensor.hh

    • *Deprecation: public: virtual std::string GetTopic() const;
    • *Replacement: public: virtual std::string Topic() const;
    • *Deprecation: public: rendering::GpuLaserPtr GetLaserCamera() const
    • *Replacement: public: rendering::GpuLaserPtr LaserCamera() const;
    • *Deprecation: public: double GetAngleResolution() const
    • *Replacement: public: double AngleResolution() const;
    • *Deprecation: public: double GetRangeMin() const
    • *Replacement: public: double RangeMin() const;
    • *Deprecation: public: double GetRangeMax() const
    • *Replacement: public: double RangeMax() const;
    • *Deprecation: public: double GetRangeResolution() const
    • *Replacement: public: double RangeResolution() const;
    • *Deprecation: public: int GetRayCount() const
    • *Replacement: public: int RayCount() const;
    • *Deprecation: public: int GetRangeCount() const
    • *Replacement: public: int RangeCount() const;
    • *Deprecation: public: int GetVerticalRayCount() const
    • *Replacement: public: int VerticalRayCount()
    • *Deprecation: public: int GetVerticalRangeCount() const;
    • *Replacement: public: int VerticalRangeCount() const;
    • *Deprecation: public: double GetVerticalAngleResolution() const
    • *Replacement: public: double VerticalAngleResolution() const;
    • *Deprecation: public: double GetRange(int _index)
    • *Replacement: public: double Range(const int _index) const;
    • *Deprecation: public: void GetRanges(std::vector &_ranges)
    • *Replacement: public: void Ranges(std::vector &_ranges) const
    • *Deprecation: public: double GetRetro(int _index) const
    • *Replacement: public: double Retro(const int _index) const;
    • *Deprecation: public: int GetFiducial(int _index) const
    • *Replacement: public: int Fiducial(const unsigned int _index) const;
    • *Deprecation: public: unsigned int GetCameraCount() const
    • *Replacement: public: unsigned int CameraCount() const;
    • *Deprecation: public: double GetRayCountRatio()
    • *Replacement: public: double RayCountRatio() const;
    • *Deprecation: public: double GetRangeCountRatio() const
    • *Replacement: public: double RangeCountRatio() const;
    • *Deprecation: public: double GetHorzFOV() const
    • *Replacement: public: double HorzFOV() const;
    • *Deprecation: public: double GetCosHorzFOV() const
    • *Replacement: public: double CosHorzFOV() const;
    • *Deprecation: public: double GetVertFOV() const
    • *Replacement: public: double VertFOV() const;
    • *Deprecation: public: double GetCosVertFOV() const
    • *Replacement: public: double CosVertFOV() const;
    • *Deprecation: public: double GetHorzHalfAngle() const
    • *Replacement: public: double HorzHalfAngle() const;
    • *Deprecation: public: double GetVertHalfAngle() const
    • *Replacement: public: double VertHalfAngle() const;

19. gazebo/sensors/ImuSensor.hh

    • *Deprecation: public: msgs::IMU GetImuMessage() const
    • *Replacement: public: msgs::IMU ImuMessage() const;

20. gazebo/sensors/MultiCameraSensor.hh

    • *Deprecation: public: virtual std::string GetTopic() const;
    • *Replacement: public: virtual std::string Topic() const;
    • *Deprecation: public: unsigned int GetCameraCount() const
    • *Replacement: public: unsigned int CameraCount() const;
    • *Deprecation: public: rendering::CameraPtr GetCamera(unsigned int _index) const
    • *Replacement: public: rendering::CameraPtr Camera(const unsigned int _index) const;
    • *Deprecation: public: unsigned int GetImageWidth(unsigned int _index) const
    • *Replacement: public: unsigned int ImageWidth(const unsigned int _index) const;
    • *Deprecation: public: unsigned int GetImageHeight(unsigned int _index) const
    • *Replacement: public: unsigned int ImageHeight(const unsigned int _index) const;
    • *Deprecation: public: const unsigned char *GetImageData(unsigned int _index)
    • *Replacement: public: const unsigned char *ImageData(const unsigned int _index);

21. gazebo/sensors/RaySensor.hh

    • *Deprecation: public: virtual std::string GetTopic() const;
    • *Replacement: public: virtual std::string Topic() const;
    • *Deprecation: public: double GetAngleResolution() const
    • *Replacement: public: double AngleResolution() const;
    • *Deprecation: public: double GetRangeMin() const
    • *Replacement: public: double RangeMin() const;
    • *Deprecation: public: double GetRangeMax() const
    • *Replacement: public: double RangeMax() const;
    • *Deprecation: public: double GetRangeResolution() const
    • *Replacement: public: double RangeResolution() const;
    • *Deprecation: public: int GetRayCount() const
    • *Replacement: public: int RayCount() const;
    • *Deprecation: public: int GetRangeCount() const
    • *Replacement: public: int RangeCount() const;
    • *Deprecation: public: int GetVerticalRayCount() const
    • *Replacement: public: int VerticalRayCount() const
    • *Deprecation: public: int GetVerticalRangeCount() const
    • *Replacement: public: int VerticalRangeCount() const;
    • *Deprecation: public: double GetVerticalAngleResolution() const
    • *Replacement: public: double VerticalAngleResolution() const;
    • *Deprecation: public: double GetRange(unsigned int _index)
    • *Replacement: public: double Range(const unsigned int _index) const;
    • *Deprecation: public: void GetRanges(std::vector &_ranges)
    • *Replacement: public: void Ranges(std::vector &_ranges) const;
    • *Deprecation: public: double GetRetro(unsigned int _index)
    • *Replacement: public: double Retro(const unsigned int _index) const;
    • *Deprecation: public: int GetFiducial(unsigned int _index)
    • *Replacement: public: int Fiducial(const unsigned int _index) const;
    • *Deprecation: public: physics::MultiRayShapePtr GetLaserShape()
    • *Replacement: public: physics::MultiRayShapePtr LaserShape() const;

22. gazebo/sensors/Sensor.hh

    • *Deprecation: public: std::string GetParentName() const
    • *Replacement: public: std::string ParentName() const;
    • *Deprecation: public: double GetUpdateRate()
    • *Replacement: public: double UpdateRate() const;
    • *Deprecation: public: std::string GetName() const
    • *Replacement: public: std::string Name() const;
    • *Deprecation: public: std::string GetScopedName() const
    • *Replacement: public: std::string ScopedName() const;
    • *Deprecation: public: std::string GetType() const
    • *Replacement: public: std::string Type() const;
    • *Deprecation: public: common::Time GetLastUpdateTime()
    • *Replacement: public: common::Time LastUpdateTime() const;
    • *Deprecation: public: common::Time GetLastMeasurementTime()
    • *Replacement: public: common::Time LastMeasurementTime() const;
    • *Deprecation: public: bool GetVisualize() const
    • *Replacement: public: bool Visualize() const;
    • *Deprecation: public: virtual std::string GetTopic() const
    • *Replacement: public: virtual std::string Topic() const;
    • *Deprecation: public: std::string GetWorldName() const
    • *Replacement: public: std::string WorldName() const;
    • *Deprecation: public: SensorCategory GetCategory() const
    • *Replacement: public: SensorCategory Category() const;
    • *Deprecation: public: uint32_t GetId() const
    • *Replacement: public: uint32_t Id() const;
    • *Deprecation: public: uint32_t GetParentId() const
    • *Replacement: public: uint32_t ParentId() const;
    • *Deprecation: public: NoisePtr GetNoise(const SensorNoiseType _type) const
    • *Replacement: public: NoisePtr Noise(const SensorNoiseType _type) const;

23. gazebo/sensors/SonarSensor.hh

    • *Deprecation: public: virtual std::string GetTopic() const;
    • *Replacement: public: virtual std::string Topic() const;
    • *Deprecation: public: double GetRangeMin() const
    • *Replacement: public: double RangeMin() const;
    • *Deprecation: public: double GetRangeMax() const
    • *Replacement: public: double RangeMax() const;
    • *Deprecation: public: double GetRadius() const
    • *Replacement: public: double Radius() const;
    • *Deprecation: public: double GetRange()
    • *Replacement: public: double Range();

24. gazebo/sensors/WirelessReceiver.hh

    • *Deprecation: public: double GetMinFreqFiltered() const
    • *Replacement: public: double MinFreqFiltered() const;
    • *Deprecation: public: double GetMaxFreqFiltered() const
    • *Replacement: public: double MaxFreqFiltered() const;
    • *Deprecation: public: double GetSensitivity() const
    • *Replacement: public: double Sensitivity() const;

25. gazebo/sensors/WirelessTransceiver.hh

    • *Deprecation: public: virtual std::string GetTopic() const;
    • *Replacement: public: virtual std::string Topic() const;
    • *Deprecation: public: double GetGain() const
    • *Replacement: public: double Gain() const;
    • *Deprecation: public: double GetPower() const
    • *Replacement: public: double Power() const;

26. gazebo/sensors/WirelessTransmitter.hh

    • *Deprecation: public: std::string GetESSID() const
    • *Replacement: public: std::string ESSID() const;
    • *Deprecation: public: double GetFreq() const
    • *Replacement: public: double Freq() const;

27. gazebo/rendering/ApplyWrenchVisual.hh

    • Deprecation: public: void SetCoM(const math::Vector3 &_comVector)
    • Replacement: public: void SetCoM(const ignition::math::Vector3d &_comVector);
    • Deprecation: public: void SetForcePos(const math::Vector3 &_forcePosVector)
    • Replacement: public: void SetForcePos(const ignition::math::Vector3d &_forcePosVector);
    • Deprecation: public: void SetForce(const math::Vector3 &_forceVector,const bool _rotatedByMouse);
    • Replacement: public: void SetForce(const ignition::math::Vector3d &_forceVector, const bool _rotatedByMouse);
    • Deprecation: public: void SetTorque(const math::Vector3 &_torqueVector,const bool _rotatedByMouse);
    • Replacement: public: void SetTorque(const ignition::math::Vector3d &_torqueVector, const bool _rotatedByMouse);

28. gazebo/rendering/AxisVisual.hh

    • Deprecation: public: void ScaleXAxis(const math::Vector3 &_scale)
    • Replacement: public: void ScaleXAxis(const ignition::math::Vector3d &_scale);
    • Deprecation: public: void ScaleYAxis(const math::Vector3 &_scale)
    • Replacement: public: void ScaleYAxis(const ignition::math::Vector3d &_scale);
    • Deprecation: public: void ScaleZAxis(const math::Vector3 &_scale)
    • Replacement: public: void ScaleZAxis(const ignition::math::Vector3d &_scale);

29. gazebo/gui/CloneWindow.hh

    • Deprecation: int GetPort()
    • Replacement: int Port() const

30. gazebo/gui/ConfigWidget.hh

    • Deprecation: public: google::protobuf::Message *GetMsg()
    • Replacement: public: google::protobuf::Message *Msg()
    • Deprecation: public: std::string GetHumanReadableKey(const std::string &_key)
    • Replacement: public: std::string HumanReadableKey(const std::string &_key) const
    • Deprecation: public: std::string GetUnitFromKey(const std::string &_key, const std::string &_jointType = "")
    • Replacement: public: std::string UnitFromKey(const std::string &_key, const std::string &_jointType = "") const
    • Deprecation: public: void GetRangeFromKey(const std::string &_key, double &_min, double &_max)
    • Replacement: public: void RangeFromKey(const std::string &_key, double &_min, double &_max) const
    • Deprecation: public: bool GetWidgetVisible(const std::string &_name)
    • Replacement: public: bool WidgetVisible(const std::string &_name) const
    • Deprecation: public: bool GetWidgetReadOnly(const std::string &_name) const
    • Replacement: public: bool WidgetReadOnly(const std::string &_name) const
    • Deprecation: public: bool SetVector3WidgetValue(const std::string &_name, const math::Vector3 &_value)
    • Replacement: public: bool SetVector3dWidgetValue(const std::string &_name, const ignition::math::Vector3d &_value)
    • Deprecation: public: bool SetPoseWidgetValue(const std::string &_name, const math::Pose &_value)
    • Replacement: public: bool SetPoseWidgetValue(const std::string &_name, const ignition::math::Pose3d &_value)
    • Deprecation: public: bool SetGeometryWidgetValue(const std::string &_name, const std::string &_value, const math::Vector3 &_dimensions, const std::string &_uri = "")
    • Replacement: public: bool SetGeometryWidgetValue(const std::string &_name, const std::string &_value, const ignition::math::Vector3d &_dimensions, const std::string &_uri = "")
    • Deprecation: public: int GetIntWidgetValue(const std::string &_name) const
    • Replacement: public: int IntWidgetValue(const std::string &_name) const
    • Deprecation: public: unsigned int GetUIntWidgetValue(const std::string &_name) const
    • Replacement: public: unsigned int UIntWidgetValue(const std::string &_name) const
    • Deprecation: public: double GetDoubleWidgetValue(const std::string &_name) const
    • Replacement: public: double DoubleWidgetValue(const std::string &_name) const
    • Deprecation: public: bool GetBoolWidgetValue(const std::string &_name) const
    • Replacement: public: bool BoolWidgetValue(const std::string &_name) const
    • Deprecation: public: std::string GetStringWidgetValue(const std::string &_name) const
    • Replacement: public: std::string StringWidgetValue(const std::string &_name) const
    • Deprecation: public: math::Vector3 GetVector3WidgetValue(const std::string &_name)
    • Replacement: public: ignition::math::Vector3d Vector3dWidgetValue(const std::string &_name) const
    • Deprecation: public: common::Color GetColorWidgetValue(const std::string &_name) const
    • Replacement: public: common::Color ColorWidgetValue(const std::string &_name) const
    • Deprecation: public: math::Pose GetPoseWidgetValue(const std::string &_name) const
    • Replacement: public: ignition::math::Pose3d PoseWidgetValue(const std::string &_name) const
    • Deprecation: public: std::string GetGeometryWidgetValue(const std::string &_name, math::Vector3 &_dimensions, std::string &_uri) const
    • Replacement: public: std::string GeometryWidgetValue(const std::string &_name, ignition::math::Vector3d &_dimensions, std::string &_uri) const
    • Deprecation: public: std::string GetEnumWidgetValue(const std::string &_name) const
    • Replacement: public: std::string EnumWidgetValue(const std::string &_name) const

31. gazebo/gui/GLWidget.hh

    • Deprecation: rendering::UserCameraPtr GetCamera() const
    • Replacement: rendering::UserCameraPtr Camera() const
    • Deprecation: rendering::ScenePtr GetScene() const
    • Replacement: rendering::ScenePtr Scene() const

32. gazebo/gui/KeyEventHandler.hh

    • Deprecation: bool GetAutoRepeat() const
    • Replacement: bool AutoRepeat() const

33. gazebo/gui/MainWindow.hh

    • Deprecation: gui::RenderWidget *GetRenderWidget() const
    • Replacement: gui::RenderWidget *RenderWidget() const
    • Deprecation: gui::Editor *GetEditor(const std::string &_name) const
    • Replacement: gui::Editor *Editor(const std::string &_name) const

34. gazebo/rendering/Camera.hh

    • Deprecation: public: DistortionPtr GetDistortion() const;
    • Replacement: public: DistortionPtr LensDistortion() const;
    • Deprecation: public: double GetRenderRate() const;
    • Replacement: public: double RenderRate() const;
    • Deprecation: public: bool GetInitialized() const;
    • Replacement: public: bool Initialized() const;
    • Deprecation: public: unsigned int GetWindowId() const;
    • Replacement: public: unsigned int WindowId() const;
    • Deprecation: public: math::Vector3 GetWorldPosition() const
    • Replacement: public: ignition::math::Vector3d WorldPosition() const;
    • Deprecation: public: math::Quaternion GetWorldRotation() const
    • Replacement: public: ignition::math::Quaterniond WorldRotation() const;
    • Deprecation: public: virtual void SetWorldPose(const math::Pose &_pose)
    • Replacement: public: virtual void SetWorldPose(const ignition::math::Pose3d &_pose);
    • Deprecation: public: math::Pose GetWorldPose() const
    • Replacement: public: ignition::math::Pose3d WorldPose() const;
    • Deprecation: public: void SetWorldPosition(const math::Vector3 &_pos);
    • Replacement: public: void SetWorldPosition(const ignition::math::Vector3d &_pos);
    • Deprecation: public: void SetWorldRotation(const math::Quaternion &_quat);
    • Replacement: public: void SetWorldRotation(const ignition::math::Quaterniond &_quat);
    • Deprecation: public: void Translate(const math::Vector3 &_direction)
    • Replacement: public: void Translate(const ignition::math::Vector3d &_direction);
    • Deprecation: public: void Roll(const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo =Ogre::Node::TS_LOCAL);
    • Replacement: public: void Roll(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo = RF_LOCAL);
    • Deprecation: public: void Pitch(const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo =Ogre::Node::TS_LOCAL);
    • Replacement: public: void Pitch(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo = RF_LOCAL);
    • Deprecation: public: void Yaw(const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo =Ogre::Node::TS_WORLD);
    • Replacement: public: void Yaw(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo = RF_WORLD);
    • Deprecation: public: void SetHFOV(math::Angle _angle);
    • Replacement: public: void SetHFOV(const ignition::math::Angle &_angle);
    • Deprecation: public: math::Angle GetHFOV() const
    • Replacement: public: ignition::math::Angle HFOV() const;
    • Deprecation: public: math::Angle GetVFOV() const;
    • Replacement: public: ignition::math::Angle VFOV() const;
    • Deprecation: public: virtual unsigned int GetImageWidth() const;
    • Replacement: public: virtual unsigned int ImageWidth() const;
    • Deprecation: public: unsigned int GetTextureWidth() const;
    • Replacement: public: unsigned int TextureWidth() const;
    • Deprecation: public: virtual unsigned int GetImageHeight() const;
    • Replacement: public: virtual unsigned int ImageHeight() const;
    • Deprecation: public: unsigned int GetImageDepth() const;
    • Replacement: public: unsigned int ImageDepth() const;
    • Deprecation: public: std::string GetImageFormat() const;
    • Replacement: public: std::string ImageFormat() const;
    • Deprecation: public: unsigned int GetTextureHeight() const;
    • Replacement: public: unsigned int TextureHeight() const;
    • Deprecation: public: size_t GetImageByteSize() const;
    • Replacement: public: size_t ImageByteSize() const;
    • Deprecation: public: static size_t GetImageByteSize(unsigned int _width, unsigned int _height, const std::string &_format);
    • Replacement: static size_t ImageByteSize(const unsigned int _width, const unsigned int _height, const std::string &_format);
    • Deprecation: public: double GetZValue(int _x, int _y);
    • Replacement: public: double ZValue(const int _x, const int _y);
    • Deprecation: public: double GetNearClip();
    • Replacement: public: double NearClip() const;
    • Deprecation: public: double GetFarClip();
    • Replacement: public: double FarClip() const;
    • Deprecation: public: bool GetCaptureData() const;
    • Replacement: public: bool CaptureData() const;
    • Deprecation: public: Ogre::Camera *GetOgreCamera() const;
    • Replacement: public: Ogre::Camera *OgreCamera() const;
    • Deprecation: public: Ogre::Viewport *GetViewport() const;
    • Replacement: public: Ogre::Viewport *OgreViewport() const;
    • Deprecation: public: unsigned int GetViewportWidth() const;
    • Replacement: public: unsigned int ViewportWidth() const;
    • Deprecation: public: unsigned int GetViewportHeight() const;
    • Replacement: public: unsigned int ViewportHeight() const;
    • Deprecation: public: math::Vector3 GetUp();
    • Replacement: public: ignition::math::Vector3d Up() const;
    • Deprecation: public: math::Vector3 GetRight();
    • Replacement: public: ignition::math::Vector3d Right() const;
    • Deprecation: public: virtual float GetAvgFPS() const;
    • Replacement: public: virtual float AvgFPS() const;
    • Deprecation: public: virtual unsigned int GetTriangleCount() const;
    • Replacement: public: virtual unsigned int TriangleCount() const;
    • Deprecation: public: float GetAspectRatio() const;
    • Replacement: public: float AspectRatio() const;
    • Deprecation: public: Ogre::SceneNode *GetSceneNode() const;
    • Replacement: public: Ogre::SceneNode *SceneNode() const;
    • Deprecation: public: virtual const unsigned char *GetImageData(unsigned int i = 0);
    • Replacement: public: virtual const unsigned char *ImageData(unsigned int i = 0) const;
    • Deprecation: public: std::string GetName() const;
    • Replacement: public: std::string Name() const;
    • Deprecation: public: std::string GetScopedName() const;
    • Replacement: public: std::string ScopedName() const;
    • Deprecation: public: void GetCameraToViewportRay(int _screenx, int _screeny,math::Vector3 &_origin, math::Vector3 &_dir);
    • Replacement: public: void CameraToViewportRay(const int _screenx, const int _screeny,ignition::math::Vector3d &_origin,ignition::math::Vector3d &_dir) const;
    • Deprecation: public: bool GetWorldPointOnPlane(int _x, int _y,const math::Plane &_plane, math::Vector3 &_result);
    • Replacement: public: bool WorldPointOnPlane(const int _x, const int _y, const ignition::math::Planed &_plane,ignition::math::Vector3d &_result);
    • Deprecation: public: Ogre::Texture *GetRenderTexture() const;
    • Replacement: public: Ogre::Texture *RenderTexture() const;
    • Deprecation: public: math::Vector3 GetDirection();
    • Replacement: public: ignition::math::Vector3d Direction() const;
    • Deprecation: public: common::Time GetLastRenderWallTime();
    • Replacement: public: common::Time LastRenderWallTime() const;
    • Deprecation: public: virtual bool MoveToPosition(const math::Pose &_pose,double _time);
    • Replacement: public: virtual bool MoveToPosition(const ignition::math::Pose3d &_pose,double _time);
    • Deprecation: public: bool MoveToPositions(const std::vectormath::Pose &_pts,double _time,boost::function<void()> _onComplete = NULL);
    • Replacement: public: bool MoveToPositions(const std::vectorignition::math::Pose3d &_pts,double _time,boost::function<void()> _onComplete = NULL);
    • Deprecation: public: std::string GetScreenshotPath() const;
    • Replacement: public: std::string ScreenshotPath() const;
    • Deprecation: public: std::string GetProjectionType() const;
    • Replacement: public: std::string ProjectionType() const;

35. gazebo/gui/RTShaderSystem.hh

    • Deprecation: void AttachEntity(Visual *vis)
    • ***No replacement for AttachEntity ***

36. gazebo/gui/RTShaderSystem.hh

    • Deprecation: void DetachEntity(Visual *_vis)
    • ***No replacement for DetachEntity ***

37. gazebo/physics/Model.hh

    • Deprecation: public: void SetScale(const math::Vector3 &_scale);
    • Replacement: public: void SetScale(const ignition::math::Vector3d &_scale, const bool _publish = false);

Deletions

1. plugins/rest_web/RestUiLogoutDialog.hh.hh

2. gazebo rendering libraries

   • The following libraries have been removed: libgazebo_skyx, libgazebo_selection_buffer, libgazebo_rendering_deferred. Gazebo now combines all the different rendering libraries into libgazebo_rendering.so.
   • Pull request #1817

3. gazebo physics libraries

   • The following libraries have been removed: libgazebo_ode_physics, libgazebo_simbody_physics, libgazebo_dart_physics, and libgazebo_bullet_physics. Gazebo now combines all the different physics engine libraries into libgazebo_physics.so.
   • Pull request #1814

4. gazebo/gui/BoxMaker.hh

5. gazebo/gui/CylinderMaker.hh

6. gazebo/gui/SphereMaker.hh

7. gazebo/gui/MeshMaker.hh

8. gazebo/gui/EntityMaker.hh

   • public: typedef boost::function<void(const math::Vector3 &pos, const math::Vector3 &scale)> CreateCallback;
   • public: static void SetSnapToGrid(bool _snap);
   • public: virtual bool IsActive() const = 0;
   • public: virtual void OnMousePush(const common::MouseEvent &_event);
   • public: virtual void OnMouseDrag(const common::MouseEvent &_event);
   • protected: math::Vector3 GetSnappedPoint(math::Vector3 _p);

9. gazebo/sensors/ForceTorqueSensor.hh

   • public: math::Vector3 GetTorque() const
   • public: math::Vector3 GetForce() const

10. gazebo/sensors/GpsSensor.hh

    • public: math::Angle GetLongitude()
    • public: math::Angle GetLatitude()

11. gazebo/sensors/GpuRaySensor.hh

    • public: math::Angle GetAngleMin() const
    • public: math::Angle GetAngleMax() const
    • public: math::Angle GetVerticalAngleMin() const
    • public: math::Angle GetVerticalAngleMax() const

12. gazebo/sensors/ImuSensor.hh

    • public: math::Vector3 GetAngularVelocity() const
    • public: math::Vector3 GetLinearAcceleration() const
    • public: math::Quaternion GetOrientation() const

13. gazebo/sensors/RFIDSensor.hh

    • private: bool CheckTagRange(const math::Pose &_pose)

14. gazebo/sensors/RFIDTag.hh

    • public: math::Pose GetTagPose() const

15. gazebo/sensors/RaySensor.hh

    • public: math::Angle GetAngleMin() const
    • public: math::Angle GetAngleMax() const
    • public: math::Angle GetVerticalAngleMin() const
    • public: math::Angle GetVerticalAngleMax() const

16. gazebo/sensors/Sensor.hh

    • public: virtual math::Pose GetPose() const
    • public: NoisePtr GetNoise(unsigned int _index = 0) const

17. gazebo/sensors/WirelessTransmitter.hh

    • public: double GetSignalStrength(const math::Pose &_receiver, const double _rxGain)

Gazebo 5.X to 6.X

Deprecations

1. gazebo/common/Color.hh

   • Deprecation: math::Vector3 GetAsHSV() const;
   • Replacement: ignition::math::Vector3d HSV() const;

2. gazebo/common/Dem.hh

   • Deprecation: void GetGeoReferenceOrigin(math::Angle &_latitude,math::Angle &_longitude);
   • Replacement: void GetGeoReferenceOrigin(ignition::math::Angle &_latitude, ignition::math::Angle &_longitude) const;
   • ***Deprecation:***void FillHeightMap(int _subSampling, unsigned int _vertSize, const math::Vector3 &_size, const math::Vector3 &_scale, bool _flipY, std::vector &_heights);
   • ***Replacement:***void FillHeightMap(const int _subSampling, const unsigned int _vertSize, const ignition::math::Vector3d &_size, const ignition::math::Vector3d &_scale, const bool _flipY, std::vector &_heights);

3. gazebo/common/GTSMeshUtils.hh

   • ***Deprecation:***static bool DelaunayTriangulation(const std::vectormath::Vector2d &_vertices, const std::vectormath::Vector2i &_edges, SubMesh *_submesh);
   • ***Replacement:***static bool DelaunayTriangulation( const std::vectorignition::math::Vector2d &_vertices, const std::vectorignition::math::Vector2i &_edges, SubMesh *_submesh);

4. gazebo/common/HeightmapData.hh

   • ***Deprecation:***virtual void FillHeightMap(int _subSampling,unsigned int _vertSize, const math::Vector3 &_size,const math::Vector3 &_scale, bool _flipY, std::vector &_heights);
   • ***Replacement:***void FillHeightMap(int _subSampling,unsigned int _vertSize, const ignition::math::Vector3d &_size,const ignition::math::Vector3d &_scale, bool _flipY,std::vector &_heights);

5. gazebo/common/KeyFrame.hh

   • ***Deprecation:***void SetTranslation(const math::Vector3 &_trans);
   • ***Replacement:***void Translation(const ignition::math::Vector3d &_trans);
   • ***Deprecation:***math::Vector3 GetTranslation() const;
   • ***Replacement:***ignition::math::Vector3d Translation() const;
   • ***Deprecation:***void SetRotation(const math::Quaternion &_rot);
   • ***Replacement:***void Rotation(const ignition::math::Quaterniond &_rot);
   • ***Deprecation:***math::Quaternion GetRotation();
   • ***Replacement:***ignition::math::Quaterniond Rotation() const;

6. gazebo/common/Mesh.hh

   • ***Deprecation:***math::Vector3 GetMax() const;
   • ***Replacement:***ignition::math::Vector3d Max() const;
   • ***Deprecation:***math::Vector3 GetMin() const;
   • ***Replacement:***ignition::math::Vector3d Min() const;
   • ***Deprecation:***void GetAABB(math::Vector3 &_center, math::Vector3 &_min_xyz,math::Vector3 &_max_xyz) const;
   • ***Replacement:***void GetAABB(ignition::math::Vector3d &_center,ignition::math::Vector3d &_minXYZ,ignition::math::Vector3d &_maxXYZ) const;
   • ***Deprecation:***void GenSphericalTexCoord(const math::Vector3 &_center);
   • ***Replacement:***void GenSphericalTexCoord(const ignition::math::Vector3d &_center);
   • ***Deprecation:***void SetScale(const math::Vector3 &_factor);
   • ***Replacement:***void SetScale(const ignition::math::Vector3d &_factor);
   • ***Deprecation:***void Center(const math::Vector3 &_center = math::Vector3::Zero);
   • ***Replacement:***void Center(const ignition::math::Vector3d &_center =ignition::math::Vector3d::Zero);
   • ***Deprecation:***void Translate(const math::Vector3 &_vec);
   • ***Replacement:***void Translate(const ignition::math::Vector3d &_vec);
   • Deprecation: void CopyVertices(const std::vectormath::Vector3 &_verts);
   • ***Replacement:***void CopyVertices(const std::vectorignition::math::Vector3d &_verts);
   • ***Deprecation:***void CopyNormals(const std::vectormath::Vector3 &_norms);
   • ***Replacement:***void CopyNormals( const std::vectorignition::math::Vector3d &_norms);
   • ***Deprecation:***void AddVertex(const math::Vector3 &_v);
   • ***Replacement:***void AddVertex(const ignition::math::Vector3d &_v);
   • ***Deprecation:***void AddNormal(const math::Vector3 &_n);
   • ***Replacement:***void AddNormal(const ignition::math::Vector3d &_n);
   • ***Deprecation:***math::Vector3 GetVertex(unsigned int _i) const;
   • ***Replacement:***ignition::math::Vector3d Vertex(unsigned int _i) const;
   • ***Deprecation:***void SetVertex(unsigned int _i, const math::Vector3 &_v);
   • ***Replacement:***void SetVertex(unsigned int _i,const ignition::math::Vector3d &_v);
   • ***Deprecation:***math::Vector3 GetNormal(unsigned int _i) const;
   • ***Replacement:***ignition::math::Vector3d Normal(unsigned int _i) const;
   • ***Deprecation:***void SetNormal(unsigned int _i, const math::Vector3 &_n);
   • ***Replacement:***void SetNormal(unsigned int _i,const ignition::math::Vector3d &_n);
   • ***Deprecation:***math::Vector2d GetTexCoord(unsigned int _i) const;
   • ***Replacement:***ignition::math::Vector2d TexCoord(unsigned int _i) const;
   • ***Deprecation:***void SetTexCoord(unsigned int _i, const math::Vector2d &_t);
   • ***Replacement:***void SetTexCoord(unsigned int _i,const ignition::math::Vector2d &_t);
   • ***Deprecation:***math::Vector3 GetMax() const;
   • ***Replacement:***ignition::math::Vector3d Max() const;
   • ***Deprecation:***math::Vector3 GetMin() const;
   • ***Replacement:***ignition::math::Vector3d Min() const;
   • ***Deprecation:***bool HasVertex(const math::Vector3 &_v) const;
   • ***Replacement:***bool HasVertex(const ignition::math::Vector3d &_v) const;
   • ***Deprecation:***unsigned int GetVertexIndex(const math::Vector3 &_v) const;
   • ***Replacement:***unsigned int GetVertexIndex( const ignition::math::Vector3d &_v) const;
   • ***Deprecation:***void GenSphericalTexCoord(const math::Vector3 &_center);
   • ***Replacement:***void GenSphericalTexCoord(const ignition::math::Vector3d &_center);
   • ***Deprecation:***void Center(const math::Vector3 &_center = math::Vector3::Zero);
   • ***Replacement:***void Center(const ignition::math::Vector3d &_center =ignition::math::Vector3d::Zero);
   • ***Deprecation:***void Translate(const math::Vector3 &_vec) ;
   • ***Replacement:***void Translate(const ignition::math::Vector3d &_vec);
   • ***Deprecation:***void SetScale(const math::Vector3 &_factor);
   • ***Replacement:***void SetScale(const ignition::math::Vector3d &_factor);

7. gazebo/common/MeshCSG.hh

   • ***Deprecation:***Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,const int _operation, const math::Pose &_offset = math::Pose::Zero);
   • ***Replacement:***Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,const int _operation,const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);

8. gazebo/common/MeshManager.hh

   • ***Deprecation:***void GetMeshAABB(const Mesh *_mesh,math::Vector3 &_center,math::Vector3 &_minXYZ,math::Vector3 &_maxXYZ);
   • ***Replacement:***void GetMeshAABB(const Mesh *_mesh,ignition::math::Vector3d &_center,ignition::math::Vector3d &_min_xyz,ignition::math::Vector3d &_max_xyz);
   • ***Deprecation:***void GenSphericalTexCoord(const Mesh *_mesh,math::Vector3 _center);
   • Replacement: void GenSphericalTexCoord(const Mesh *_mesh,const ignition::math::Vector3d &_center);
   • ***Deprecation:***void CreateBox(const std::string &_name, const math::Vector3 &_sides,const math::Vector2d &_uvCoords);
   • ***Replacement:***void CreateBox(const std::string &_name,const ignition::math::Vector3d &_sides,const ignition::math::Vector2d &_uvCoords);
   • ***Deprecation:***void CreateExtrudedPolyline(const std::string &_name, const std::vector<std::vectormath::Vector2d > &_vertices,double _height);
   • Replacement: void CreateExtrudedPolyline(const std::string &_name,const std::vector<std::vectorignition::math::Vector2d > &_vertices, double _height);
   • ***Deprecation:***void CreatePlane(const std::string &_name,const math::Plane &_plane,const math::Vector2d &_segments,const math::Vector2d &_uvTile);
   • ***Replacement:***void CreatePlane(const std::string &_name,const ignition::math::Planed &_plane,const ignition::math::Vector2d &_segments, const ignition::math::Vector2d &_uvTile);
   • ***Deprecation:***void CreatePlane(const std::string &_name,const math::Vector3 &_normal,double _d,const math::Vector2d &_size,const math::Vector2d &_segments,const math::Vector2d &_uvTile);
   • ***Replacement:***void CreatePlane(const std::string &_name,const ignition::math::Vector3d &_normal,const double _d,const ignition::math::Vector2d &_size,const ignition::math::Vector2d &_segments, const ignition::math::Vector2d &_uvTile);
   • ***Deprecation:***void CreateBoolean(const std::string &_name, const Mesh *_m1,const Mesh *_m2, const int _operation,const math::Pose &_offset = math::Pose::Zero);
   • ***Replacement:***void CreateBoolean(const std::string &_name, const Mesh *_m1,const Mesh *_m2, const int _operation,const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);

9. gazebo/common/SVGLoader.hh

   • ***Deprecation:***static void PathsToClosedPolylines(const std::vectorcommon::SVGPath &_paths, double _tol,std::vector< std::vectormath::Vector2d > &_closedPolys,std::vector< std::vectormath::Vector2d > &_openPolys);
   • ***Replacement:***static void PathsToClosedPolylines(const std::vectorcommon::SVGPath &_paths,double _tol,std::vector< std::vectorignition::math::Vector2d > &_closedPolys,std::vector< std::vectorignition::math::Vector2d > &_openPolys);

10. gazebo/common/Skeleton.hh

    • ***Deprecation:***void SetBindShapeTransform(math::Matrix4 _trans);
    • ***Replacement:***void SetBindShapeTransform(const ignition::math::Matrix4d &_trans);
    • ***Deprecation:***math::Matrix4 GetBindShapeTransform();
    • ***Replacement:***ignition::math::Matrix4d BindShapeTransform();
    • ***Deprecation:***void SetTransform(math::Matrix4 _trans,bool _updateChildren = true);
    • ***Replacement:***void SetTransform(const ignition::math::Matrix4d &_trans,bool _updateChildren = true);
    • ***Deprecation:***void SetModelTransform(math::Matrix4 _trans,bool _updateChildren = true);
    • ***Replacement:***void SetModelTransform(const ignition::math::Matrix4d &_trans,bool _updateChildren = true);
    • ***Deprecation:***void SetInitialTransform(math::Matrix4 _tras);
    • ***Replacement:***void SetInitialTransform(const ignition::math::Matrix4d &_tras);
    • ***Deprecation:***math::Matrix4 GetTransform();
    • ***Replacement:***ignition::math::Matrix4d Transform();
    • ***Deprecation:***void SetInverseBindTransform(math::Matrix4 _invBM);
    • ***Replacement:***void SetInverseBindTransform(const ignition::math::Matrix4d &_invBM);
    • ***Deprecation:***math::Matrix4 GetInverseBindTransform();
    • ***Replacement:***ignition::math::Matrix4d InverseBindTransform();
    • ***Deprecation:***math::Matrix4 GetModelTransform();
    • ***Replacement:***ignition::math::Matrix4d ModelTransform() const;
    • ***Deprecation:***NodeTransform(math::Matrix4 _mat, std::string _sid = "default",TransformType _type = MATRIX);
    • ***Replacement:***NodeTransform(const ignition::math::Matrix4d &_mat,const std::string &_sid = "default",TransformType _type = MATRIX);
    • ***Deprecation:***void Set(math::Matrix4 _mat);
    • ***Replacement:***void Set(const ignition::math::Matrix4d &_mat);
    • ***Deprecation:***math::Matrix4 Get();
    • ***Replacement:***ignition::math::Matrix4d GetTransform() const;
    • ***Deprecation:***void SetSourceValues(math::Matrix4 _mat);
    • ***Replacement:***void SetSourceValues(const ignition::math::Matrix4d &_mat);
    • ***Deprecation:***void SetSourceValues(math::Vector3 _vec);
    • Replacement: void SetSourceValues(const ignition::math::Vector3d &_vec);
    • ***Deprecation:***void SetSourceValues(math::Vector3 _axis, double _angle);
    • ***Replacement:***void SetSourceValues(const ignition::math::Vector3d &_axis,const double _angle);
    • ***Deprecation:**math::Matrix4 operator (math::Matrix4 _m);
    • ***Replacement:**ignition::math::Matrix4d operator(const ignition::math::Matrix4d &_m);

11. gazebo/common/SkeletonAnimation.hh

    • ***Deprecation:***void AddKeyFrame(const double _time, const math::Matrix4 &_trans);
    • ***Replacement:***void AddKeyFrame(const double _time,const ignition::math::Matrix4d &_trans);
    • ***Deprecation:***void AddKeyFrame(const double _time,const math::Pose &_pose);
    • ***Replacement:***void AddKeyFrame(const double _time,const ignition::math::Pose3d &_pose);
    • ***Deprecation:***void GetKeyFrame(const unsigned int _i, double &_time,math::Matrix4 &_trans);
    • ***Replacement:***void GetKeyFrame(const unsigned int _i, double &_time,ignition::math::Matrix4d &_trans) const;
    • ***Deprecation:***std::pair<double, math::Matrix4> GetKeyFrame(const unsigned int _i);
    • ***Replacement:***std::pair<double, ignition::math::Matrix4d> KeyFrame(const unsigned int _i) const;
    • ***Deprecation:***math::Matrix4 GetFrameAt(double _time, bool _loop = true) const;
    • ***Replacement:***ignition::math::Matrix4d FrameAt(double _time, bool _loop = true) const;
    • ***Deprecation:***void AddKeyFrame(const std::string &_node, const double _time, const math::Matrix4 &_mat);
    • ***Replacement:***void AddKeyFrame(const std::string &_node, const double _time,const ignition::math::Matrix4d &_mat);
    • ***Deprecation:***void AddKeyFrame(const std::string &_node, const double _time,const math::Pose &_pose);
    • ***Replacement:***void AddKeyFrame(const std::string &_node, const double _time,const ignition::math::Pose3d &_pose);
    • Deprecation: math::Matrix4 GetNodePoseAt(const std::string &_node,const double _time, const bool _loop = true);
    • ***Replacement:***ignition::math::Matrix4d NodePoseAt(const std::string &_node,const double _time, const bool _loop = true);
    • ***Deprecation:***std::map<std::string, math::Matrix4> GetPoseAt(const double _time, const bool _loop = true) const;
    • ***Replacement:***std::map<std::string, ignition::math::Matrix4d> PoseAt(const double _time, const bool _loop = true) const;
    • ***Deprecation:***std::map<std::string, math::Matrix4> GetPoseAtX(const double _x, const std::string &_node, const bool _loop = true) const;
    • ***Replacement:***std::map<std::string, ignition::math::Matrix4d> PoseAtX(const double _x, const std::string &_node, const bool _loop = true) const;

12. gazebo/common/SphericalCoordinates.hh

    • ***Deprecation:***SphericalCoordinates(const SurfaceType _type,const math::Angle &_latitude,const math::Angle &_longitude,double _elevation,const math::Angle &_heading);
    • ***Replacement:***SphericalCoordinates(const SurfaceType _type,const ignition::math::Angle &_latitude,const ignition::math::Angle &_longitude,double _elevation,const ignition::math::Angle &_heading);
    • ***Deprecation:***math::Vector3 SphericalFromLocal(const math::Vector3 &_xyz) const;
    • ***Replacement:***ignition::math::Vector3d SphericalFromLocal(const ignition::math::Vector3d &_xyz) const;
    • ***Deprecation:***math::Vector3 GlobalFromLocal(const math::Vector3 &_xyz) const;
    • ***Replacement:***ignition::math::Vector3d GlobalFromLocal(const ignition::math::Vector3d &_xyz) const;
    • ***Deprecation:***static double Distance(const math::Angle &_latA,const math::Angle &_lonA,const math::Angle &_latB,const math::Angle &_lonB);
    • ***Replacement:***static double Distance(const ignition::math::Angle &_latA,const ignition::math::Angle &_lonA,const ignition::math::Angle &_latB,const ignition::math::Angle &_lonB);
    • Deprecation: math::Angle GetLatitudeReference() const;
    • ***Replacement:***ignition::math::Angle LatitudeReference() const;
    • ***Deprecation:***math::Angle GetLongitudeReference() const;
    • ***Replacement:***ignition::math::Angle LongitudeReference() const;
    • ***Deprecation:***math::Angle GetHeadingOffset() const;
    • ***Replacement:***ignition::math::Angle HeadingOffset() const;
    • ***Deprecation:***void SetLatitudeReference(const math::Angle &_angle);
    • ***Replacement:***void SetLatitudeReference(const ignition::math::Angle &_angle);
    • ***Deprecation:***void SetLongitudeReference(const math::Angle &_angle);
    • ***Replacement:***void SetLongitudeReference(const ignition::math::Angle &_angle);
    • ***Deprecation:***void SetHeadingOffset(const math::Angle &_angle);
    • ***Replacement:***void SetHeadingOffset(const ignition::math::Angle &_angle);

Modifications

1. gazebo/common/MouseEvent.hh

   • Replaced all member variables with functions that use Ignition Math.
   • Pull request #1777

2. gazebo/msgs/world_stats.proto

   • Removed: optional bool log_playback = 8;
   • Replacement: optional LogPlaybackStatistics log_playback_stats = 8;

3. gazebo/physics/JointState.hh

   • Removed: public: JointState(JointPtr _joint, const common::Time &_realTime, const common::Time &_simTime)
   • Replacement: public: JointState(JointPtr _joint, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)

4. gazebo/physics/LinkState.hh

   • Removed: public: LinkState(const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime)
   • Replacement: public: LinkState(const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
   • Removed: public: void Load(const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime)
   • Replacement: public: void Load(const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)

5. gazebo/physics/ModelState.hh

   • Removed: public: ModelState(const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime)
   • Replacement: public: ModelState(const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
   • Removed: public: void Load(const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime)
   • Replacement: public: void Load(const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)

6. gazebo/physics/State.hh

   • Removed: public: State(const std::string &_name, const common::Time &_realTime, const common::Time &_simTime)
   • Replacement: public: State(const std::string &_name, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)

7. gazebo/physics/ModelState.hh

   • Removed: public: void Load(const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime)
   • Replacement: public: void Load(const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)

8. ignition-math is now a dependency. Many classes and functions are modified to use ignition-math, please see the pull request listing below for individual changes.

   • http://ignitionrobotics.org/libraries/math
   • Gazebo migration
   • Pull request #1756
   • Pull request #1766
   • Pull request #1774
   • Pull request #1771
   • Pull request #1776
   • Pull request #1777
   • Pull request #1772
   • Pull request #1773
   • Pull request #1778

9. Gazebo client's should now use gazebo/gazebo_client.hh and libgazebo_client.so instead of gazebo/gazebo.hh and libgazebo.so. This separates running a Gazebo server from a Gazebo client.

   • Removed: bool gazebo::setupClient(int _argc = 0, char **_argv = 0);
   • Replacement: bool gazebo::client::setup(int _argc = 0, char **_argv = 0);

10. gazebo/rendering/GpuLaser.hh

    • Removed: protected: double near
    • Replacement: protected: double nearClip

11. gazebo/rendering/GpuLaser.hh

    • Removed: protected: double far
    • Replacement: protected: double farClip

12. gazebo/rendering/Visual.hh

    • Removed: public: void Fini();
    • Replacement: public: virtual void Fini();

13. gazebo/common/MeshManager.hh

    • Removed: void CreateExtrudedPolyline(const std::string &_name, const std::vectormath::Vector2d &_vertices, const double &_height, const math::Vector2d &_uvCoords)
    • Replacement: void CreateExtrudedPolyline(const std::string &_name, const const std::vector<std::vectormath::Vector2d > &_vertices, const double &_height, const math::Vector2d &_uvCoords)

14. gazebo/common/GTSMeshUtils.hh

    • Removed: public: static bool CreateExtrudedPolyline(const std::vectormath::Vector2d &_vertices, const double &_height, SubMesh *_submesh)
    • Replacement: public: static bool DelaunayTriangulation(const std::vector<std::vectormath::Vector2d > &_path, SubMesh *_submesh)

15. gazebo/physics/PolylineShape.hh

    • Removed: public: std::vectormath::Vector2d GetVertices() const
    • Replacement: public: std::vector<std::vectormath::Vector2d > GetVertices() const

16. gazebo/physics/SurfaceParams.hh

    • Removed: public: FrictionPyramid frictionPyramid
    • Replacement: public: FrictionPyramidPtr GetFrictionPyramid() const

Deletions

1. gazebo/gui/RenderWidget.hh
   • The ShowEditor(bool _show)

Additions

1. gazebo/msgs/log_playback_control.proto

   • New message to control the playback from a log file.

2. gazebo/util/LogPlay.hh

   • public: bool Rewind()

3. gazebo/physics/LinkState.hh

   • public: virtual void SetIterations(const uint64_t _iterations)

4. gazebo/physics/ModelState.hh

   • public: virtual void SetIterations(const uint64_t _iterations)

5. gazebo/physics/State.hh

   • public: uint64_t GetIterations() const
   • public: virtual void SetIterations(const uint64_t _iterations)

6. gazebo/physics/WorldState.hh

   • public: virtual void SetIterations(const uint64_t _iterations)

7. gazebo/util/LogPlay.hh

   • public: uint64_t GetInitialIterations() const
   • public: bool HasIterations() const

Gazebo 4.X to 5.X

C++11 compiler required

Gazebo 5.x uses features from the new c++11 standard. This requires to have a compatible c++11 compiler. Note that some platforms (like Ubuntu Precise) do not include one by default.

Modifications

1. Privatized World::dirtyPoses

   • World::dirtyPoses used to be a public attribute. This is now a private attribute, and specific "friends" have been added to the World file.

2. Privatized Scene::skyx

   • Scene::skyx used to be a public attribute. This is now a private attribute, and a GetSkyX() funcion has been added to access the sky object.

3. gazebo/rendering/Visual.hh

   • The GetBoundingBox() function now returns a local bounding box without scale applied.

4. gazebo/math/Box.hh

   • The constructor that takes two math::Vector3 values now treats these as two corners, and computes the minimum and maximum values automatically. This change is API and ABI compatible.

5. Informational logs: The log files will be created inside ~/.gazebo/server-<GAZEBO_MASTER_PORT> and ~/.gazebo/client-<GAZEBO_MASTER_PORT>. The motivation for this change is to avoid name collisions when cloning a simulation. If the environment variable GAZEBO_MASTER_URI is not present or invalid, <GAZEBO_MASTER_PORT> will be replaced by "default".

6. gazebo/common/Plugin.hh

   • Removed: protected: std::string Plugin::handle
   • Replacement: protected: std::string Plugin::handleName

7. gazebo/gui/KeyEventHandler.hh

   • Removed: public: void HandlePress(const common::KeyEvent &_event);
   • Replacement: public: bool HandlePress(const common::KeyEvent &_event);

8. gazebo/gui/KeyEventHandler.hh

   • Removed: public: void HandleRelease(const common::KeyEvent &_event);
   • Replacement: public: bool HandleRelease(const common::KeyEvent &_event);

9. gazebo/rendering/UserCamera.hh

   • Removed: private: void OnJoy(ConstJoystickPtr &_msg)
   • Replacement: private: void OnJoyTwist(ConstJoystickPtr &_msg)

10. gazebo/rendering/Camera.hh

    • Deprecation: public: void RotatePitch(math::Angle _angle);
    • Replacement: public: void Pitch(const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo = Ogre::Node::TS_LOCAL);
    • Deprecation: public: void RotateYaw(math::Angle _angle);
    • Replacement: public: void Yaw(const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo = Ogre::Node::TS_LOCAL);

11. gazebo/rendering/AxisVisual.hh

    • Removed: public: void ShowRotation(unsigned int _axis)
    • Replacement: public: void ShowAxisRotation(unsigned int _axis, bool _show)

12. gazebo/rendering/ArrowVisual.hh

    • Removed: public: void ShowRotation()
    • Replacement: public: void ShowRotation(bool _show)

Deletions

1. gazebo/physics/Collision.hh

   • unsigned int GetShapeType()

2. gazebo/physics/World.hh

   • EntityPtr GetSelectedEntity() const

3. gazebo/physics/bullet/BulletJoint.hh

   • void SetAttribute(Attribute, unsigned int, double)

4. gazebo/physics/simbody/SimbodyJoint.hh

   • void SetAttribute(Attribute, unsigned int, double)

Gazebo 3.1 to 4.0

New Deprecations

1. gazebo/physics/Collision.hh

   • Deprecation unsigned int GetShapeType()
   • Replacement unsigned int GetShapeType() const

2. gazebo/physics/Joint.hh

   • Deprecation virtual double GetMaxForce(unsigned int)
   • Deprecation virtual void SetMaxForce(unsigned int, double)
   • Deprecation virtual void SetAngle(unsigned int, math::Angle)
   • Replacement virtual void SetPosition(unsigned int, double)

Modifications

1. gazebo/physics/Model.hh

   • Removed: Link_V GetLinks() const ABI Change
   • Replacement: const Link_V &GetLinks() const

2. gzprop command line tool

   • The gzprop command line tool outputs a zip file instead of a tarball.

Additions

1. gazebo/msgs/msgs.hh

   • sdf::ElementPtr LightToSDF(const msgs::Light &_msg, sdf::ElementPtr _sdf = sdf::ElementPtr())

2. gazebo/rendering/Light.hh

   • math::Quaternion GetRotation() const
   • void SetRotation(const math::Quaternion &_q)
   • LightPtr Clone(const std::string &_name, ScenePtr _scene)

3. gazebo/rendering/Scene.hh

   • void AddLight(LightPtr _light)
   • void RemoveLight(LightPtr _light)

4. gazebo/gui/GuiEvents.hh

   • template static event::ConnectionPtr ConnectLightUpdate(T _subscriber)
   • static void DisconnectLightUpdate(event::ConnectionPtr _subscriber)

5. gazebo/gui/ModelMaker.hh

   • bool InitFromModel(const std::string & _modelName)

6. gazebo/gui/LightMaker.hh

   • bool InitFromLight(const std::string & _lightName)

7. gazebo/common/Mesh.hh

   • int GetMaterialIndex(const Material *_mat) const

8. gazebo/math/Filter.hh

   • New classes: Filter, OnePole, OnePoleQuaternion, OnePoleVector3, BiQuad, and BiQuadVector3

9. gazebo/physics/Joint.hh

   • bool FindAllConnectedLinks(const LinkPtr &_originalParentLink, Link_V &_connectedLinks);
   • math::Pose ComputeChildLinkPose( unsigned int _index, double _position);

10. gazebo/physics/Link.hh

    • void Move(const math::Pose &_worldRefernceFrameSrc, const math::Pose &_worldRefernceFrameDst);
    • bool FindAllConnectedLinksHelper( const LinkPtr &_originalParentLink, Link_V &_connectedLinks, bool _fistLink = false);
    • bool ContainsLink(const Link_V &_vector, const LinkPtr &_value);
    • msgs::Visual GetVisualMessage(const std::string &_name)

Modifications

1. gazebo/physics/Model.hh

   • Removed: Link_V GetLinks() const ABI Change
   • Replacement: const Link_V &GetLinks() const

2. gazebo/physics/Base.cc

   • Removed std::string GetScopedName() const
   • Replaced std::string GetScopedName(bool _prependWorldName=false) const

Gazebo 3.0 to 3.1

Additions

1. gazebo/physics/World.hh

   • void RemoveModel(const std::string &_name);
   • void RemoveModel(ModelPtr _model);

2. gazebo/physics/JointController.hh

   • void SetPositionPID(const std::string &_jointName, const common::PID &_pid);
   • void SetVelocityPID(const std::string &_jointName, const common::PID &_pid);

Gazebo 2.0 to 3.0

New Deprecations

1. gazebo/physics/Joint.hh

   • Deprecation virtual void ApplyDamping()
   • Replacement virtual void ApplyStiffnessDamping()

   ---

   • Deprecation double GetDampingCoefficient() const
   • Replacement double GetDamping(int _index)

2. gazebo/physics/ode/ODEJoint.hh

   • Deprecation void CFMDamping()
   • Replacement void ApplyImplicitStiffnessDamping()

3. gazebo/physics/ScrewJoint.hh

   • Deprecation virtual void SetThreadPitch(unsigned int _index, double _threadPitch) = 0
   • Replacement virtual void SetThreadPitch(double _threadPitch) = 0

   ---

   • Deprecation virtual void GetThreadPitch(unsigned int _index) = 0
   • Replacement virtual void GetThreadPitch() = 0

4. gazebo/physics/bullet/BulletScrewJoint.hh

   • Deprecation protected: virtual void Load(sdf::ElementPtr _sdf)
   • Replacement public: virtual void Load(sdf::ElementPtr _sdf)

5. gazebo/physics/PhysicsEngine.hh

   • Deprecation virtual void SetSORPGSPreconIters(unsigned int _iters)
   • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

   ---

   • Deprecation virtual void SetSORPGSIters(unsigned int _iters)
   • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

   ---

   • Deprecation virtual void SetSORPGSW(double _w)
   • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

   ---

   • Deprecation virtual int GetSORPGSPreconIters()
   • Replacement virtual boost::any GetParam(const std::string &_key) const

   ---

   • Deprecation virtual int GetSORPGSIters()
   • Replacement virtual boost::any GetParam(const std::string &_key) const

   ---

   • Deprecation virtual double GetSORPGSW()
   • Replacement virtual boost::any GetParam(const std::string &_key) const

6. gazebo/physics/bullet/BulletPhysics.hh

   • Deprecation virtual bool SetParam(BulletParam _param, const boost::any &_value)
   • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

   ---

   • Deprecation virtual boost::any GetParam(BulletParam _param) const
   • Replacement virtual boost::any GetParam(const std::string &_key) const

7. gazebo/physics/ode/ODEPhysics.hh

   • Deprecation virtual bool SetParam(ODEParam _param, const boost::any &_value)
   • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

   ---

   • Deprecation virtual boost::any GetParam(ODEParam _param) const
   • Replacement virtual boost::any GetParam(const std::string &_key) const

8. gazebo/physics/dart/DARTPhysics.hh

   • Deprecation virtual boost::any GetParam(DARTParam _param) const
   • Replacement virtual boost::any GetParam(const std::string &_key) const

9. gazebo/physics/Joint.hh

   • Deprecation virtual double GetAttribute(const std::string &_key, unsigned int _index) = 0
   • Replacement virtual double GetParam(const std::string &_key, unsigned int _index) = 0;

10. gazebo/physics/bullet/BulletJoint.hh

    • Deprecation virtual double GetAttribute(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetParam(const std::string &_key, unsigned int _index)

11. gazebo/physics/bullet/BulletScrewJoint.hh

    • Deprecation virtual double GetAttribute(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetParam(const std::string &_key, unsigned int _index)

12. gazebo/physics/dart/DARTJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

13. gazebo/physics/ode/ODEJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

14. gazebo/physics/ode/ODEScrewJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

15. gazebo/physics/ode/ODEUniversalJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

16. gazebo/physics/simbody/SimbodyJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

17. gazebo/physics/simbody/SimbodyScrewJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

18. gazebo/physics/Joint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value) = 0
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value) = 0

19. gazebo/physics/bullet/BulletJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

20. gazebo/physics/dart/DARTJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

21. gazebo/physics/ode/ODEJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

22. gazebo/physics/ode/ODEScrewJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

23. gazebo/physics/ode/ODEUniversalJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

24. gazebo/physics/simbody/SimbodyJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

25. gazebo/physics/simbody/SimbodyScrewJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

Modifications

1. gazebo/physics/Entity.hh

   • Removed: inline const math::Pose &GetWorldPose() const ABI change
   • Replacement: inline virutal const math::Pose &GetWorldPose() const

2. gazebo/physics/Box.hh

   • Removed: bool operator==(const Box &_b) ABI Change
   • Replacement: bool operator==(const Box &_b) const

3. gazebo/gui/GuiIface.hh

   • Removed: void load() ABI change
   • Replacement: bool load()
   • Note: Changed return type from void to bool.

4. Functions in joint classes use unsigned int, instead of int

   • All functions in Joint classes (gazebo/physics/*Joint*) and subclasses (gazebo/physics/[ode,bullet,simbody,dart]/*Joint*) now use unsigned integers instead of integers when referring to a specific joint axis.
   • Add const to Joint::GetInitialAnchorPose(), Joint::GetStopDissipation(), Joint::GetStopStiffness()

5. gazebo/sensors/Noise.hh ABI change

   • Removed: void Noise::Load(sdf::ElementPtr _sdf)
   • Replacement: virtual void Noise::Load(sdf::ElementPtr _sdf)
   • Removed: void Noise::~Noise()
   • Replacement: virtual void Noise::~Noise()
   • Removed: void Noise::Apply() const
   • Replacement: void Noise::Apply()
   • Note: Make Noise a base class and refactored out GaussianNoiseModel to its own class.

6. gazebo/transport/ConnectionManager.hh

   • Removed: bool ConnectionManager::Init(const std::string &_masterHost, unsigned int _masterPort) ABI change
   • Replacement: bool ConnectionManager::Init(const std::string &_masterHost, unsigned int _masterPort, uint32_t _timeoutIterations = 30)
   • Note: No changes to downstream code required. A third parameter has been added that specifies the number of timeout iterations. This parameter has a default value of 30.

7. gazebo/transport/TransportIface.hh

   • Removed: bool init(const std::string &_masterHost = "", unsigned int _masterPort = 0) ABI change
   • Replacement: bool init(const std::string &_masterHost = "", unsigned int _masterPort = 0, uint32_t _timeoutIterations = 30)
   • Note: No changes to downstream code required. A third parameter has been added that specifies the number of timeout iterations. This parameter has a default value of 30.

8. gazebo/transport/Publication.hh

   • Removed: void Publish(MessagePtr _msg, boost::function<void(uint32_t)> _cb, uint32_t _id) ABI change
   • Replacement: int Publish(MessagePtr _msg, boost::function<void(uint32_t)> _cb, uint32_t _id)
   • Note: Only the return type changed.

9. gazebo/common/ModelDatabase.hh API change

   • Removed: void ModelDatabase::GetModels(boost::function<void (const std::map<std::string, std::string> &)> _func)
   • Replacement: event::ConnectionPtr ModelDatabase::GetModels(boost::function<void (const std::map<std::string, std::string> &)> _func)
   • Note: The replacement function requires that the returned connection shared pointer remain valid in order to receive the GetModels callback. Reset the shared pointer to stop receiving GetModels callback.

10. gazebo/physics/Collision.hh API change

    • Modified: SurfaceParamsPtr Collision::surface
    • Note: Changed from private to protected

11. gazebo/physics/MultiRayShape.hh API change

    • Removed: double MultiRayShape::GetRange(int _index)
    • Replacement: double MultiRayShape::GetRange(unsigned int _index)
    • Removed: double MultiRayShape::GetRetro(int _index)
    • Replacement: double MultiRayShape::GetRetro(unsigned int _index)
    • Removed: double MultiRayShape::GetFiducial(int _index)
    • Replacement: double MultiRayShape::GetFiducial(unsigned int _index)
    • Note: Changed argument type from int to unsigned int.

12. gazebo/physics/SurfaceParams.hh

    • Removed: void FillMsg(msgs::Surface &_msg)
    • Replacement: virtual void FillMsg(msgs::Surface &_msg)

13. gazebo/sensors/RaySensor.hh API change

    • Removed: double RaySensor::GetRange(int _index)
    • Replacement: double RaySensor::GetRange(unsigned int _index)
    • Removed: double RaySensor::GetRetro(int _index)
    • Replacement: double RaySensor::GetRetro(unsigned int _index)
    • Removed: double RaySensor::GetFiducial(int _index)
    • Replacement: double RaySensor::GetFiducial(unsigned int _index)
    • Note: Changed argument type from int to unsigned int.

14. gazebo/physics/PhysicsEngine.hh

    • Removed virtual void SetParam(const std::string &_key, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

15. gazebo/physics/ode/ODEPhysics.hh

    • Removed virtual void SetParam(const std::string &_key, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

16. gazebo/physics/bullet/BulletPhysics.hh

    • Removed virtual void SetParam(const std::string &_key, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

17. gazebo/physics/BallJoint.hh

    • Removed virtual void SetHighStop(unsigned int /_index/, const math::Angle &/_angle/)
    • Replacement virtual bool SetHighStop(unsigned int /_index/, const math::Angle &/_angle/)

    ---

    • Removed virtual void SetLowStop(unsigned int /_index/, const math::Angle &/_angle/)
    • Replacement virtual bool SetLowStop(unsigned int /_index/, const math::Angle &/_angle/)

18. gazebo/physics/Joint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

19. gazebo/physics/bullet/BulletBallJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

20. gazebo/physics/bullet/BulletHinge2Joint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

21. gazebo/physics/bullet/BulletHingeJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

22. gazebo/physics/bullet/BulletScrewJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

23. gazebo/physics/bullet/BulletSliderJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

24. gazebo/physics/bullet/BulletUniversalJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

25. gazebo/physics/dart/DARTJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

26. gazebo/physics/ode/ODEJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

27. gazebo/physics/ode/ODEUniversalJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

28. gazebo/physics/simbody/SimbodyJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

29. gazebo/physics/simbody/SimbodyScrewJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)

    ---

    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

Additions

1. gazebo/physics/Joint.hh

   • bool FindAllConnectedLinks(const LinkPtr &_originalParentLink, Link_V &_connectedLinks);
   • math::Pose ComputeChildLinkPose( unsigned int _index, double _position);

2. gazebo/physics/Link.hh

   • void MoveFrame(const math::Pose &_worldReferenceFrameSrc, const math::Pose &_worldReferenceFrameDst);
   • bool FindAllConnectedLinksHelper( const LinkPtr &_originalParentLink, Link_V &_connectedLinks, bool _fistLink = false);
   • bool ContainsLink(const Link_V &_vector, const LinkPtr &_value);

3. gazebo/physics/Collision.hh

   • void SetWorldPoseDirty()
   • virtual const math::Pose &GetWorldPose() const

4. gazebo/physics/JointController.hh

   • common::Time GetLastUpdateTime() const
   • std::map<std::string, JointPtr> GetJoints() const
   • bool SetPositionTarget(const std::string &_jointName, double _target)
   • bool SetVelocityTarget(const std::string &_jointName, double _target)
   • std::map<std::string, common::PID> GetPositionPIDs() const
   • std::map<std::string, common::PID> GetVelocityPIDs() const
   • std::map<std::string, double> GetForces() const
   • std::map<std::string, double> GetPositions() const
   • std::map<std::string, double> GetVelocities() const

5. gazebo/common/PID.hh

   • double GetPGain() const
   • double GetIGain() const
   • double GetDGain() const
   • double GetIMax() const
   • double GetIMin() const
   • double GetCmdMax() const
   • double GetCmdMin() const

6. gazebo/transport/TransportIface.hh

   • transport::ConnectionPtr connectToMaster()

7. gazebo/physics/World.hh

   • msgs::Scene GetSceneMsg() const

8. gazebo/physics/ContactManager.hh

   • unsigned int GetFilterCount()
   • bool HasFilter(const std::string &_name)
   • void RemoveFilter(const std::string &_name)

9. gazebo/physics/Joint.hh

   • virtual void Fini()
   • math::Pose GetAnchorErrorPose() const
   • math::Quaternion GetAxisFrame(unsigned int _index) const
   • double GetWorldEnergyPotentialSpring(unsigned int _index) const
   • math::Pose GetParentWorldPose() const
   • double GetSpringReferencePosition(unsigned int) const
   • math::Pose GetWorldPose() const
   • virtual void SetEffortLimit(unsigned _index, double _stiffness)
   • virtual void SetStiffness(unsigned int _index, double _stiffness) = 0
   • virtual void SetStiffnessDamping(unsigned int _index, double _stiffness, double _damping, double _reference = 0) = 0
   • bool axisParentModelFrame[MAX_JOINT_AXIS]
   • protected: math::Pose parentAnchorPose
   • public: double GetInertiaRatio(const math::Vector3 &_axis) const

10. gazebo/physics/Link.hh

    • double GetWorldEnergy() const
    • double GetWorldEnergyKinetic() const
    • double GetWorldEnergyPotential() const
    • bool initialized

11. gazebo/physics/Model.hh

    • double GetWorldEnergy() const
    • double GetWorldEnergyKinetic() const
    • double GetWorldEnergyPotential() const

12. gazebo/physics/SurfaceParams.hh

    • FrictionPyramid()
    • ~FrictionPyramid()
    • double GetMuPrimary()
    • double GetMuSecondary()
    • void SetMuPrimary(double _mu)
    • void SetMuSecondary(double _mu)
    • math::Vector3 direction1
    • Note: Replaces mu, m2, fdir1 variables

13. gazebo/physics/bullet/BulletSurfaceParams.hh

    • BulletSurfaceParams()
    • virtual ~BulletSurfaceParams()
    • virtual void Load(sdf::ElementPtr _sdf)
    • virtual void FillMsg(msgs::Surface &_msg)
    • virtual void ProcessMsg(msgs::Surface &_msg)
    • FrictionPyramid frictionPyramid

14. gazebo/physics/ode/ODESurfaceParams.hh

    • virtual void FillMsg(msgs::Surface &_msg)
    • virtual void ProcessMsg(msgs::Surface &_msg)
    • double bounce
    • double bounce
    • double bounceThreshold
    • double kp
    • double kd
    • double cfm
    • double erp
    • double maxVel
    • double minDepth
    • FrictionPyramid frictionPyramid
    • double slip1
    • double slip2

15. gazebo/rendering/Light.hh

    • bool GetVisible() const
    • virtual void LoadFromMsg(const msgs::Light &_msg)

16. gazebo/sensors/ForceTorqueSensor.hh

    • physics::JointPtr GetJoint() const

17. gazebo/sensors/Noise.hh

    • virtual double ApplyImpl(double _in)
    • virtual void Fini()
    • virtual void SetCustomNoiseCallback(boost::function<double (double)> _cb)

18. gazebo/sensors/Sensor.hh

    • NoisePtr GetNoise(unsigned int _index = 0) const

19. gazebo/sensors/GaussianNoiseModel.hh

20. gazebo/physics/ode/ODEUniversalJoint.hh

    • virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • virtual double GetAttribute(const std::string &_key, unsigned int _index)

21. gazebo/physics/simbody/SimbodyScrewJoint.hh

    • virtual void SetThreadPitch(double _threadPitch)
    • virtual void GetThreadPitch()

22. gazebo/physics/ode/ODEScrewJoint.hh

    • virtual void SetThreadPitch(double _threadPitch)
    • virtual void GetThreadPitch()

23. gazebo/physics/ScrewJoint.hh

    • virtual math::Vector3 GetAnchor(unsigned int _index) const
    • virtual void SetAnchor(unsigned int _index, const math::Vector3 &_anchor)

24. gazebo/physics/bullet/BulletJoint.hh

    • virtual math::Angle GetHighStop(unsigned int _index)
    • virtual math::Angle GetLowStop(unsigned int _index)

25. gazebo/physics/simbody/SimbodyPhysics.hh

    • virtual boost::any GetParam(const std::string &_key) const
    • virtual bool SetParam(const std::string &_key, const boost::any &_value)

26. gazebo/physics/dart/DARTPhysics.hh

    • virtual boost::any GetParam(const std::string &_key) const
    • virtual bool SetParam(const std::string &_key, const boost::any &_value)

27. gazebo/physics/Joint.hh

    • math::Quaternion GetAxisFrameOffset(unsigned int _index) const

Deletions

1. Removed libtool

   • Libtool used to be an option for loading plugins. Now, only libdl is supported.

2. gazebo/physics/Base.hh

   • Base_V::iterator childrenEnd

3. gazebo/sensors/Noise.hh

   • double Noise::GetMean() const
   • double Noise::GetStdDev() const
   • double Noise::GetBias() const
   • Note: Moved gaussian noise functions to a new GaussianNoiseModel class

4. gazebo/physics/SurfaceParams.hh

   • double bounce
   • double bounce
   • double bounceThreshold
   • double kp
   • double kd
   • double cfm
   • double erp
   • double maxVel
   • double minDepth
   • double mu1
   • double mu2
   • double slip1
   • double slip2
   • math::Vector3 fdir1
   • Note: These parameters were moved to FrictionPyramid, ODESurfaceParams, and BulletSurfaceParams.

Gazebo 1.9 to 2.0

New Deprecations

1. gazebo/gazebo.hh
   • Deprecation void fini()
   • Deprecation void stop()
   • Replacement bool shutdown()
   • Note Replace fini and stop with shutdown

   ---

   • Deprecation bool load()
   • Deprecation bool init()
   • Deprecation bool run()
   • Replacement bool setupClient()
     • Use this function to setup gazebo for use as a client
   • Replacement bool setupServer()
     • Use this function to setup gazebo for use as a server
   • Note Replace load+init+run with setupClient/setupServer

   ---

   • Deprecation std::string find_file(const std::string &_file)
   • Replacement std::string common::find_file(const std::string &_file)

   ---

   • Deprecation void add_plugin(const std::string &_filename)
   • Replacement void addPlugin(const std::string &_filename)

   ---

   • Deprecation void print_version()
   • Replacement void printVersion()
2. gazebo/physics/World.hh
   • Deprecation void World::StepWorld(int _steps)
   • Replacement void World::Step(unsigned int _steps)
3. gazebo/sensors/SensorsIface.hh
   • Deprecation std::string sensors::create_sensor(sdf::ElementPtr _elem, const std::string &_worldName,const std::string &_parentName)
   • Replacement std::string sensors::create_sensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
4. gazebo/sensors/Sensor.hh
   • Deprecation void Sensor::SetParent(const std::string &_name)
   • Replacement void Sensor::SetParent(const std::string &_name, uint32_t _id)
5. gazebo/sensors/SensorManager.hh
   • Deprecation std::string CreateSensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName)
   • Replacement std::string CreateSensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
6. gazebo/sensors/Collision.hh
   • Deprecation void Collision::SetContactsEnabled(bool _enable)
   • Replacement Use ContactManager.

   ---

   • Deprecation bool Colliion::GetContactsEnabled() const
   • Replacement Use ContactManager.

   ---

   • Deprecation void AddContact(const Contact &_contact)
   • Replacement Use ContactManager.

Modifications

1. File rename: gazebo/common/Common.hh to gazebo/common/CommonIface.hh
2. File rename: gazebo/physics/Physics.hh to gazebo/physics/PhysicsIface.hh
3. File rename: gazebo/rendering/Rendering.hh to gazebo/rendering/RenderingIface.hh
4. File rename: gazebo/sensors/Sensors.hh to gazebo/sensors/SensorsIface.hh
5. File rename: gazebo/transport/Transport.hh to gazebo/transport/TransportIface.hh
6. File rename: gazebo/gui/Gui.hh to gazebo/gui/GuiIface.hh
7. File rename: <model>/manifest.xml to <model>/model.config
8. File rename: <model_database>/manifest.xml to <model_database>/database.config
9. gazebo/msgs/physics.proto
   • Removed optional double dt
   • Replacement optional double min_step_size

   ---

   • Removed optional double update_rate
   • Replacement optional double real_time_update_rate
10. gazebo/physics/ModelState.hh
    • Removed LinkState ModelState::GetLinkState(int _index) API change
    • Replacement LinkState ModelState::GetLinkState(const std::string &_linkName) const
11. gazebo/physics/PhyscisEngine.hh
    • Removed void PhysicsEngine::SetUpdateRate(double _value) API change
    • Replacement void PhyscisEngine::SetRealTimeUpdateRate(double _rate)

    ---

    • Removed double PhysicsEngine::GetUpdateRate() API change
    • Replacement double PhysicsEngine::GetRealTimeUpdateRate() const

    ---

    • Removed void PhysicsEngine::SetStepTime(double _value) API change
    • Replacement void PhysicsEngine::SetMaxStepSize(double _stepSize)

    ---

    • Removed double PhysicsEngine::GetStepTime() API change
    • Replacement double PhysicsEngine::GetMaxStepSize() const
12. gazebo/physics/Joint.hh
    • Removed: Joint::Load(LinkPtr _parent, LinkPtr _child, const math::Vector3 &_pos) API chance
    • Replacement: Joint::Load(LinkPtr _parent, LinkPtr _child, const math::Pose &_pose)

    ---

    • Removed: public: double GetInertiaRatio(unsigned int _index) const
    • Replacement: public: double GetInertiaRatio(const unsigned int _index) const
13. gazebo/common/Events.hh
    • Removed: Events::ConnectWorldUpdateStart(T _subscriber) API change
    • Replacement ConnectionPtr Events::ConnectWorldUpdateBegin(T _subscriber)

    ---

    • Removed: Events::DisconnectWorldUpdateStart(T _subscriber) API change
    • Replacement ConnectionPtr Events::DiconnectWorldUpdateBegin(T _subscriber)
14. gazebo/physics/Link.hh
    • Removed void Link::RemoveChildJoint(JointPtr _joint) API change
    • Replacement void Link::RemoveChildJoint(const std::string &_jointName)

    ---

    • Removed void Link::RemoveParentJoint(const std::string &_jointName) API change
    • Replacement void Link::RemoveParentJoint(const std::string &_jointName)
15. gazebo/physics/MeshShape.hh
    • Removed std::string MeshShape::GetFilename() const API change
    • Replacement std::string MeshShape::GetURI() const

    ---

    • Removed void MeshShape::SetFilename() const API change
    • Replacement std::string MeshShape::SetMesh(const std::string &_uri, const std::string &_submesh = "", bool _center = false) const
16. gazebo/common/Time.hh
    • Removed static Time::NSleep(Time _time) API change
    • Replacement static Time NSleep(unsigned int _ns)

Deletions

1. gazebo/physics/Collision.hh
   • template event::ConnectionPtr ConnectContact(T _subscriber)
   • template event::ConnectionPtr DisconnectContact(T _subscriber)
   • Note: The ContactManager::CreateFilter functions can be used to create a gazebo topic with contact messages filtered by the name(s) of collision shapes. The topic can then be subscribed with a callback to replicate this removed functionality. See gazebo pull request #713 for an example migration.