Merge branch 'develop'

Author: jlblancoc

CMakeLists.txt

@@ -308,6 +308,7 @@ include(cmakemodules/script_SIMD.cmake REQUIRED)        # SSE2/SSE3/... optimiza
 include(cmakemodules/script_simpleini.cmake REQUIRED)   # SimpleINI lib
 include(cmakemodules/script_suitesparse.cmake REQUIRED) # SuiteSparse libs
 include(cmakemodules/script_swissrange.cmake REQUIRED)  # Support for SWISSRANGE 3D camera:
+include(cmakemodules/script_tbb.cmake REQUIRED)         # TBB
 include(cmakemodules/script_tinyxml2.cmake REQUIRED)    # tinyxml2 lib
 include(cmakemodules/script_triclops.cmake REQUIRED)    # Check for PointGreyResearch (PGR) Triclops library
 include(cmakemodules/script_videre_svs.cmake REQUIRED)  # Support for Videre Design stereo camera:

apps/ro-localization/CPosePDFParticlesExtended.h

@@ -30,8 +30,6 @@ class TExtendedCPose2D
   mrpt::math::CVectorDouble state;
 };
 
-#define DUMMY_LINKAGE
-
 /** Declares a class that represents a Probability Distribution
  *    function (PDF) of a 2D pose (x,y,phi).
  *   This class implements that PDF using a set of particles

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.13.8-{branch}-build{build}
+version: 2.14.0-{branch}-build{build}
 
 os: Visual Studio 2019
 

cmakemodules/script_show_final_summary.cmake

@@ -143,6 +143,7 @@ SHOW_CONFIG_LINE_SYSTEM("OpenGL GLES                         " CMAKE_MRPT_HAS_GL
 SHOW_CONFIG_LINE_SYSTEM("GLUT                                " CMAKE_MRPT_HAS_GLUT)
 SHOW_CONFIG_LINE_SYSTEM("PCAP (Wireshark logs for Velodyne)  " CMAKE_MRPT_HAS_LIBPCAP)
 SHOW_CONFIG_LINE_SYSTEM("SuiteSparse                         " CMAKE_MRPT_HAS_SUITESPARSE "[Version: ${SuiteSparse_VERSION}]")
+SHOW_CONFIG_LINE_SYSTEM("TBB                                 " CMAKE_MRPT_HAS_TBB "[Version: ${TBB_VERSION}]")
 SHOW_CONFIG_LINE_SYSTEM("tinyxml2                            " CMAKE_MRPT_HAS_TINYXML2)
 SHOW_CONFIG_LINE_SYSTEM("wxWidgets                           " CMAKE_MRPT_HAS_WXWIDGETS "[Version: ${wxWidgets_VERSION_STRING} ${CMAKE_WXWIDGETS_TOOLKIT_NAME}]")
 message(STATUS  "")

cmakemodules/script_tbb.cmake

@@ -0,0 +1,16 @@
+
+set(CMAKE_MRPT_HAS_TBB 0)
+set(CMAKE_MRPT_HAS_TBB_SYSTEM 0)
+
+option(DISABLE_TBB "Force not using TBB" "OFF")
+mark_as_advanced(DISABLE_TBB)
+if(DISABLE_TBB)
+	return()
+endif()
+
+find_package(TBB QUIET)
+
+if(TBB_FOUND)
+	set(CMAKE_MRPT_HAS_TBB 1)
+	set(CMAKE_MRPT_HAS_TBB_SYSTEM 1)
+endif()

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,18 @@
 \page changelog Change Log
 
+# Version 2.14.0: Released Sep 15th, 2024
+- Changes in libraries:
+  - \ref mrpt_slam_grp:
+    - Particle filtering algorithm pfStandardProposal now uses TBB (if present) for automatically running weight updates in parallel.
+  - \ref mrpt_rtti_grp:
+    - mrpt::rtti::CObject::GetRuntimeClassIdStatic() no longer depends on static variables, but on constexpr. This totally removes the possibility of initialization order fiasco while registering classes.
+    - **IMPORTANT CHANGE**: To make the change above possible, these macros have changed:
+      - `DEFINE_VIRTUAL_SERIALIZABLE(class)` ==>`DEFINE_VIRTUAL_SERIALIZABLE(class, namespace)`
+      - `DEFINE_VIRTUAL_MRPT_OBJECT(class)` ==>`DEFINE_VIRTUAL_MRPT_OBJECT(class, namespace)`
+- BUG FIXES:
+  - Fix recursive mutex lock if calling mrpt::opengl::CPointCloud::insertPoint() with signatures for mrpt::math::TPoint3D.
+  - Fix potential initialization-order fiasco accessing GetRuntimeClassIdStatic() in clang (see change above).
+
 # Version 2.13.8: Released Sep 7th, 2024
 - Changes in libraries:
   - \ref mrpt_vision_grp:

libs/kinematics/include/mrpt/kinematics/CVehicleVelCmd.h

@@ -21,7 +21,7 @@ namespace mrpt::kinematics
  * \ingroup mrpt_kinematics_grp */
 class CVehicleVelCmd : public mrpt::serialization::CSerializable, public mrpt::Stringifyable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CVehicleVelCmd)
+  DEFINE_VIRTUAL_SERIALIZABLE(CVehicleVelCmd, mrpt::kinematics)
  public:
   CVehicleVelCmd();
   CVehicleVelCmd(const CVehicleVelCmd& other);

libs/maps/include/mrpt/maps/CPointsMap.h

@@ -75,7 +75,7 @@ class CPointsMap :
     public mrpt::opengl::PLY_Exporter,
     public mrpt::maps::NearestNeighborsCapable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPointsMap)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPointsMap, mrpt::maps)
   // This must be added for declaration of MEX-related functions
   DECLARE_MEX_CONVERSION
 

libs/maps/include/mrpt/maps/CRandomFieldGridMap2D.h

@@ -158,7 +158,7 @@ class CRandomFieldGridMap2D :
 {
   using BASE = mrpt::containers::CDynamicGrid<TRandomFieldCell>;
 
-  DEFINE_VIRTUAL_SERIALIZABLE(CRandomFieldGridMap2D)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRandomFieldGridMap2D, mrpt::maps)
  public:
   /** Calls the base CMetricMap::clear
    * Declared here to avoid ambiguity between the two clear() in both base

libs/nav/include/mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h

@@ -28,7 +28,7 @@ namespace mrpt::nav
  */
 class CAbstractHolonomicReactiveMethod : public mrpt::serialization::CSerializable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CAbstractHolonomicReactiveMethod)
+  DEFINE_VIRTUAL_SERIALIZABLE(CAbstractHolonomicReactiveMethod, mrpt::nav)
  public:
   /** Input parameters for CAbstractHolonomicReactiveMethod::navigate() */
   struct NavInput