Binary compatibility report for the OpenRAVE library between 0.4.2 and 0.5.0 versions on x86

Test Info

Library Name	OpenRAVE
Version #1	0.4.2
Version #2	0.5.0
CPU Architecture	x86
GCC Version	4.6.1

Test Results

Total Header Files	26
Total Shared Libraries	2
Total Symbols / Types	520 / 304
Verdict	Incompatible (73.65%)

Problem Summary

	Severity	Count
Added Symbols	-	106
Removed Symbols	High	19
Problems with Data Types	High	93
	Medium	40
	Low	7
Problems with Symbols	High	6
	Medium	2
	Low	14
Problems with Constants	Low	15
Other Changes	-	1

Added Symbols (106)

iksolver.h, libopenrave0.5.so.0.5.0
namespace OpenRAVE
IkSolverBase::_CallFilters ( std::vector<double>& solution, RobotBase::ManipulatorPtr manipulator, IkParameterization const& param )
IkSolverBase::RegisterCustomFilter ( int priority )

kinbody.h, libopenrave0.5.so.0.5.0
namespace OpenRAVE
KinBody::GetConfigurationSpecification ( ) const
KinBody::GetConfigurationSpecificationIndices ( std::vector<int>const& indices ) const
KinBody::GetConfigurationValues ( std::vector<double>& v ) const
KinBody::GetDOFAccelerationLimits ( std::vector<double>& maxaccelerations ) const
KinBody::GetDOFTorqueLimits ( std::vector<double>& maxaccelerations ) const
KinBody::GetDOFVelocityLimits ( std::vector<double>& maxvelocities ) const
KinBody::GetLinkTransformations ( std::vector<Transform>& transforms, std::vector<int>& dofbranches ) const
KinBody::InitFromGeometries ( std::list<KinBody::Link::GEOMPROPERTIES>& geometries, bool visible )
KinBody::IsVisible ( ) const
KinBody::Joint::GetAccelerationLimits ( std::vector<double>& vmax, bool bAppend ) const
KinBody::Joint::GetTorqueLimits ( std::vector<double>& vmax, bool bAppend ) const
KinBody::Joint::GetVelocityLimits ( std::vector<double>& vmax, bool bAppend ) const
KinBody::Joint::SetAccelerationLimits ( std::vector<double>const& vmax )
KinBody::Joint::SetTorqueLimits ( std::vector<double>const& vmax )
KinBody::KinBodyStateSaver::Restore ( )
KinBody::Link::GEOMPROPERTIES::SetVisible ( bool visible )
KinBody::Link::GetGlobalInertia ( ) const
KinBody::Link::GetLocalInertia ( ) const
KinBody::Link::IsVisible ( ) const
KinBody::Link::SetVisible ( bool visible )
KinBody::SetConfigurationValues ( std::vector<double>::const_iterator itvalues, bool checklimits )
KinBody::SetDOFAccelerationLimits ( std::vector<double>const& maxlimits )
KinBody::SetDOFTorqueLimits ( std::vector<double>const& maxlimits )
KinBody::SetDOFVelocityLimits ( std::vector<double>const& maxlimits )
KinBody::SetDOFWeights ( std::vector<double>const& weights )
KinBody::SetLinkTransformations ( std::vector<Transform>const& transforms, std::vector<int>const& dofbranches )
KinBody::SetVisible ( bool visible )

openrave.h, libopenrave0.5.so.0.5.0
namespace OpenRAVE
ConfigurationSpecification::AddDeltaTimeGroup ( )
ConfigurationSpecification::AddGroup ( std::string const& name, int dof, std::string const& interpolation )
ConfigurationSpecification::AddVelocityGroups ( bool adddeltatime )
ConfigurationSpecification::ConvertData ( std::vector<double>::iterator ittargetdata, ConfigurationSpecification const& targetspec, std::vector<double>::const_iterator itsourcedata, ConfigurationSpecification const& sourcespec, size_t numpoints, EnvironmentBaseConstPtr penv, bool filluninitialized ) [static]
ConfigurationSpecification::ConvertGroupData ( std::vector<double>::iterator ittargetdata, size_t targetstride, ConfigurationSpecification::Group const& gtarget, std::vector<double>::const_iterator itsourcedata, size_t sourcestride, ConfigurationSpecification::Group const& gsource, size_t numpoints, EnvironmentBaseConstPtr penv, bool filluninitialized ) [static]
ConfigurationSpecification::ConvertToVelocitySpecification ( ) const
ConfigurationSpecification::ExtractAffineValues ( std::vector<double>::iterator itvalues, std::vector<double>::const_iterator itdata, KinBodyConstPtr pbody, int affinedofs, int timederivative ) const
ConfigurationSpecification::ExtractDeltaTime ( dReal& deltatime, std::vector<double>::const_iterator itdata ) const
ConfigurationSpecification::ExtractIkParameterization ( IkParameterization& ikparam, std::vector<double>::const_iterator itdata, int timederivative ) const
ConfigurationSpecification::ExtractJointValues ( std::vector<double>::iterator itvalues, std::vector<double>::const_iterator itdata, KinBodyConstPtr pbody, std::vector<int>const& indices, int timederivative ) const
ConfigurationSpecification::ExtractTransform ( Transform& t, std::vector<double>::const_iterator itdata, KinBodyConstPtr pbody ) const
ConfigurationSpecification::FindCompatibleGroup ( ConfigurationSpecification::Group const& g, bool exactmatch ) const
ConfigurationSpecification::FindCompatibleGroup ( std::string const& name, bool exactmatch ) const
ConfigurationSpecification::FindTimeDerivativeGroup ( ConfigurationSpecification::Group const& g, bool exactmatch ) const
ConfigurationSpecification::FindTimeDerivativeGroup ( std::string const& name, bool exactmatch ) const
ConfigurationSpecification::GetDOF ( ) const
ConfigurationSpecification::GetGroupFromName ( std::string const& name )
ConfigurationSpecification::GetGroupFromName ( std::string const& name ) const
ConfigurationSpecification::GetTimeDerivativeSpecification ( int timederivative ) const
ConfigurationSpecification::InsertDeltaTime ( std::vector<double>::iterator itdata, dReal deltatime )
ConfigurationSpecification::InsertJointValues ( std::vector<double>::iterator itdata, std::vector<double>::const_iterator itvalues, KinBodyConstPtr pbody, std::vector<int>const& indices, int timederivative ) const
ConfigurationSpecification::IsValid ( ) const
ConfigurationSpecification::operator!= ( ConfigurationSpecification const& r ) const
ConfigurationSpecification::operator+ ( ConfigurationSpecification const& r ) const
ConfigurationSpecification::operator+= ( ConfigurationSpecification const& r )
ConfigurationSpecification::operator== ( ConfigurationSpecification const& r ) const
ConfigurationSpecification::Reader::characters ( std::string const& ch )
ConfigurationSpecification::Reader::endElement ( std::string const& name )
ConfigurationSpecification::Reader::Reader [in-charge] ( ConfigurationSpecification& spec )
ConfigurationSpecification::Reader::Reader [not-in-charge] ( ConfigurationSpecification& spec )
ConfigurationSpecification::Reader::startElement ( std::string const& name, AttributesList const& atts )
ConfigurationSpecification::ResetGroupOffsets ( )
IkParameterization::GetConfigurationSpecification ( IkParameterizationType iktype ) [static]
operator<< ( std::ostream& O, ConfigurationSpecification const& spec )
operator<< ( std::ostream& O, IkParameterization const& ikparam )
operator>> ( std::istream& I, ConfigurationSpecification& spec )
operator>> ( std::istream& I, IkParameterization& ikparam )
RaveGetAffineDOF ( int affinedofs )
RaveGetAffineDOFFromIndex ( int affinedofs, int index )
RaveGetAffineDOFValuesFromTransform ( std::vector<double>::iterator itvalues, Transform const& t, int affinedofs, Vector const& vActvAffineRotationAxis )
RaveGetIndexFromAffineDOF ( int affinedofs, DOFAffine dof )
RaveGetTransformFromAffineDOFValues ( Transform& t, std::vector<double>::const_iterator itvalues, int affinedofs, Vector const& vActvAffineRotationAxis )

planner.h, libopenrave0.5.so.0.5.0
namespace OpenRAVE
PlannerBase::_CallCallbacks ( PlannerBase::PlannerProgress const& progress )
PlannerBase::_ProcessPostPlanners ( RobotBasePtr probot, TrajectoryBasePtr ptraj )
PlannerBase::PlannerBase [in-charge] ( EnvironmentBasePtr penv )
PlannerBase::PlannerBase [not-in-charge] ( EnvironmentBasePtr penv )
PlannerBase::PlannerProgress::PlannerProgress [in-charge] ( )
PlannerBase::PlannerProgress::PlannerProgress [not-in-charge] ( )
PlannerBase::RegisterPlanCallback ( )

planningutils.h, libopenrave0.5.so.0.5.0
namespace OpenRAVE::planningutils
ConvertTrajectorySpecification ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::ConfigurationSpecification const& spec )
LineCollisionConstraint::Check ( OpenRAVE::PlannerBase::PlannerParametersWeakPtr _params, OpenRAVE::KinBodyPtr robot, std::vector<double>const& pQ0, std::vector<double>const& pQ1, OpenRAVE::IntervalType interval, OpenRAVE::PlannerBase::ConfigurationListPtr pvCheckedConfigurations )
ManipulatorIKGoalSampler::SetJitter ( OpenRAVE::dReal maxdist )
ManipulatorIKGoalSampler::SetSamplingProb ( OpenRAVE::dReal fsampleprob )
RetimeActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, std::string const& plannername )
SmoothActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, std::string const& plannername )

robot.h, libopenrave0.5.so.0.5.0
namespace OpenRAVE
RobotBase::GetActiveConfigurationSpecification ( ) const
RobotBase::GetActiveDOFAccelerationLimits ( std::vector<double>& v ) const
RobotBase::GetActiveDOFVelocityLimits ( std::vector<double>& v ) const
RobotBase::Manipulator::GetIkParameterization ( IkParameterizationType iktype ) const
RobotBase::Manipulator::SetLocalToolTransform ( Transform const& t )
RobotBase::Manipulator::SetName ( std::string const& name )
RobotBase::RobotStateSaver::Restore ( )
RobotBase::SetActiveMotion ( TrajectoryBaseConstPtr ptraj )
RobotBase::SetActiveMotion ( TrajectoryBaseConstPtr ptraj, dReal fSpeed )
RobotBase::SetLinkTransformations ( std::vector<Transform>const& transforms, std::vector<int>const& dofbranches )
RobotBase::SetMotion ( TrajectoryBaseConstPtr ptraj )

trajectory.h, libopenrave0.5.so.0.5.0
namespace OpenRAVE
TrajectoryBase::AddPoint ( TrajectoryBase::Point const& p )
TrajectoryBase::CalcTrajTiming ( RobotBasePtr probot, int interp, bool autocalc, bool activedof, dReal fmaxvelmult )
TrajectoryBase::Clone ( InterfaceBaseConstPtr preference, int cloningoptions )
TrajectoryBase::deserialize ( std::istream& I )
TrajectoryBase::GetPoints ( ) const
TrajectoryBase::GetWaypoints ( size_t startindex, size_t endindex, std::vector<double>& data, ConfigurationSpecification const& spec ) const
TrajectoryBase::Sample ( std::vector<double>& data, dReal time, ConfigurationSpecification const& spec ) const
TrajectoryBase::SampleTrajectory ( dReal time, TrajectoryBase::Point& tp ) const
TrajectoryBase::serialize ( std::ostream& O, int options ) const
TrajectoryBase::TrajectoryBase [in-charge] ( EnvironmentBasePtr penv )
TrajectoryBase::TrajectoryBase [not-in-charge] ( EnvironmentBasePtr penv )

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Removed Symbols (19)

kinbody.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
KinBody::GetDOFMaxAccel ( std::vector<double>& v ) const
KinBody::Link::GEOMPROPERTIES::SetDraw ( bool bDraw )

planner.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
PlannerBase::_OptimizePath ( RobotBasePtr probot, TrajectoryBasePtr ptraj )

planningutils.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE::planningutils
LineCollisionConstraint::Check ( OpenRAVE::PlannerBase::PlannerParametersWeakPtr _params, OpenRAVE::RobotBasePtr robot, std::vector<double>const& pQ0, std::vector<double>const& pQ1, OpenRAVE::IntervalType interval, OpenRAVE::PlannerBase::ConfigurationListPtr pvCheckedConfigurations )

robot.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
RobotBase::GetActiveDOFMaxAccel ( std::vector<double>& v ) const
RobotBase::GetActiveDOFMaxVel ( std::vector<double>& v ) const
RobotBase::GetAffineDOFIndex ( RobotBase::DOFAffine dof ) const
RobotBase::Manipulator::GetIkParameterization ( IkParameterization::Type iktype ) const

trajectory.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
TrajectoryBase::CalcTrajTiming ( RobotBaseConstPtr robot, TrajectoryBase::InterpEnum interpolationMethod, bool bAutoCalcTiming, bool bActiveDOFs, dReal fMaxVelMult )
TrajectoryBase::Clear ( )
TrajectoryBase::IsValid ( ) const
TrajectoryBase::Read ( std::istream& sout, RobotBasePtr robot )
TrajectoryBase::Read ( std::string const& filename, RobotBasePtr robot )
TrajectoryBase::Reset ( int nDOF )
TrajectoryBase::SampleTrajectory ( dReal time, TrajectoryBase::TPOINT& sample ) const
TrajectoryBase::TrajectoryBase [in-charge] ( EnvironmentBasePtr penv, int nDOF )
TrajectoryBase::TrajectoryBase [not-in-charge] ( EnvironmentBasePtr penv, int nDOF )
TrajectoryBase::Write ( std::ostream& sinput, int options ) const
TrajectoryBase::Write ( std::string const& filename, int options ) const

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Problems with Data Types, High Severity (93)

	Change	Effect
1	Pure virtual method EnvironmentBase::GetKinBody ( std::string const& name ) const has been added to this class.	1) Applications will not provide the implementation for this pure virtual method and therefore cause a crash in the library trying to call this method. 2) The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
2	Pure virtual method EnvironmentBase::GetRobot ( std::string const& name ) const has been added to this class.	1) Applications will not provide the implementation for this pure virtual method and therefore cause a crash in the library trying to call this method. 2) The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
3	Pure virtual method EnvironmentBase::GetSensor ( std::string const& name ) const has been added to this class.	1) Applications will not provide the implementation for this pure virtual method and therefore cause a crash in the library trying to call this method. 2) The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
4	Pure_Virtual method EnvironmentBase::CreateCollisionChecker ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
5	Pure_Virtual method EnvironmentBase::CreateController ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
6	Pure_Virtual method EnvironmentBase::CreateIkSolver ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
7	Pure_Virtual method EnvironmentBase::CreateInterface ( InterfaceType type, std::string const& interfacename ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
8	Pure_Virtual method EnvironmentBase::CreateKinBody ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
9	Pure_Virtual method EnvironmentBase::CreatePhysicsEngine ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
10	Pure_Virtual method EnvironmentBase::CreatePlanner ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
11	Pure_Virtual method EnvironmentBase::CreateProblem ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
12	Pure_Virtual method EnvironmentBase::CreateRobot ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
13	Pure_Virtual method EnvironmentBase::CreateSensor ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
14	Pure_Virtual method EnvironmentBase::CreateSensorSystem ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
15	Pure_Virtual method EnvironmentBase::CreateTrajectory ( int nDOF ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
16	Pure_Virtual method EnvironmentBase::CreateViewer ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
17	Pure_Virtual method EnvironmentBase::GetKinBody ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
18	Pure_Virtual method EnvironmentBase::GetLoadedInterfaces ( std::map<InterfaceType, std::vector<std::string> >& interfacenames ) const has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
19	Pure_Virtual method EnvironmentBase::GetPluginInfo ( std::list<std::pair<std::string, PLUGININFO> >& plugins ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
20	Pure_Virtual method EnvironmentBase::GetRobot ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
21	Pure_Virtual method EnvironmentBase::GetSensor ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
22	Pure_Virtual method EnvironmentBase::HasInterface ( InterfaceType type, std::string const& interfacename ) const has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
23	Pure_Virtual method EnvironmentBase::LoadPlugin ( std::string const& name ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
24	Pure_Virtual method EnvironmentBase::ReloadPlugins ( ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 121 entries	Virtual Table (New) - 103 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~EnvironmentBase	~EnvironmentBase
12	~EnvironmentBase	~EnvironmentBase
16	__cxa_pure_virtual	__cxa_pure_virtual
20	__cxa_pure_virtual	__cxa_pure_virtual
24	EnvironmentBase::SetUserData	EnvironmentBase::SetUserData
28	EnvironmentBase::GetUserData	EnvironmentBase::GetUserData
32	__cxa_pure_virtual	__cxa_pure_virtual
36	__cxa_pure_virtual	__cxa_pure_virtual
40	__cxa_pure_virtual	__cxa_pure_virtual
44	__cxa_pure_virtual	__cxa_pure_virtual
48	__cxa_pure_virtual	__cxa_pure_virtual
52	__cxa_pure_virtual	__cxa_pure_virtual
56	__cxa_pure_virtual	__cxa_pure_virtual
60	__cxa_pure_virtual	__cxa_pure_virtual
64	__cxa_pure_virtual	__cxa_pure_virtual
68	__cxa_pure_virtual	__cxa_pure_virtual
72	__cxa_pure_virtual	__cxa_pure_virtual
76	__cxa_pure_virtual	__cxa_pure_virtual
80	__cxa_pure_virtual	__cxa_pure_virtual
84	__cxa_pure_virtual	__cxa_pure_virtual
88	__cxa_pure_virtual	__cxa_pure_virtual
92	__cxa_pure_virtual	__cxa_pure_virtual
96	__cxa_pure_virtual	__cxa_pure_virtual
100	__cxa_pure_virtual	__cxa_pure_virtual
104	__cxa_pure_virtual	__cxa_pure_virtual
108	__cxa_pure_virtual	__cxa_pure_virtual
112	__cxa_pure_virtual	__cxa_pure_virtual
116	__cxa_pure_virtual	__cxa_pure_virtual
120	__cxa_pure_virtual	__cxa_pure_virtual
124	__cxa_pure_virtual	__cxa_pure_virtual
128	__cxa_pure_virtual	__cxa_pure_virtual
132	__cxa_pure_virtual	__cxa_pure_virtual
136	__cxa_pure_virtual	__cxa_pure_virtual
140	__cxa_pure_virtual	__cxa_pure_virtual
144	__cxa_pure_virtual	__cxa_pure_virtual
148	__cxa_pure_virtual	EnvironmentBase::LoadXMLData
152	__cxa_pure_virtual	__cxa_pure_virtual
156	__cxa_pure_virtual	__cxa_pure_virtual
160	__cxa_pure_virtual	EnvironmentBase::ReadRobotXMLFile
164	__cxa_pure_virtual	EnvironmentBase::ReadRobotURI
168	__cxa_pure_virtual	EnvironmentBase::ReadRobotXMLFile
172	__cxa_pure_virtual	__cxa_pure_virtual
176	__cxa_pure_virtual	EnvironmentBase::ReadRobotXMLData
180	__cxa_pure_virtual	__cxa_pure_virtual
184	__cxa_pure_virtual	EnvironmentBase::ReadKinBodyXMLFile
188	__cxa_pure_virtual	EnvironmentBase::ReadKinBodyURI
192	__cxa_pure_virtual	EnvironmentBase::ReadKinBodyXMLFile
196	__cxa_pure_virtual	__cxa_pure_virtual
200	__cxa_pure_virtual	EnvironmentBase::ReadKinBodyXMLData
204	__cxa_pure_virtual	__cxa_pure_virtual
208	__cxa_pure_virtual	EnvironmentBase::ReadInterfaceXMLFile
212	__cxa_pure_virtual	__cxa_pure_virtual
216	__cxa_pure_virtual	EnvironmentBase::ReadInterfaceXMLFile
220	EnvironmentBase::LoadXMLData	__cxa_pure_virtual
224	__cxa_pure_virtual	EnvironmentBase::ReadInterfaceXMLData
228	__cxa_pure_virtual	__cxa_pure_virtual
232	EnvironmentBase::ReadRobotXMLFile	EnvironmentBase::ReadTrimeshFile
236	EnvironmentBase::ReadRobotURI	__cxa_pure_virtual
240	EnvironmentBase::ReadRobotXMLFile	__cxa_pure_virtual
244	__cxa_pure_virtual	__cxa_pure_virtual
248	EnvironmentBase::ReadRobotXMLData	__cxa_pure_virtual
252	__cxa_pure_virtual	__cxa_pure_virtual
256	EnvironmentBase::ReadKinBodyXMLFile	__cxa_pure_virtual
260	EnvironmentBase::ReadKinBodyURI	__cxa_pure_virtual
264	EnvironmentBase::ReadKinBodyXMLFile	__cxa_pure_virtual
268	__cxa_pure_virtual	__cxa_pure_virtual
272	EnvironmentBase::ReadKinBodyXMLData	__cxa_pure_virtual
276	__cxa_pure_virtual	__cxa_pure_virtual
280	EnvironmentBase::ReadInterfaceXMLFile	__cxa_pure_virtual
284	__cxa_pure_virtual	__cxa_pure_virtual
288	EnvironmentBase::ReadInterfaceXMLFile	__cxa_pure_virtual
292	__cxa_pure_virtual	__cxa_pure_virtual
296	EnvironmentBase::ReadInterfaceXMLData	EnvironmentBase::AttachViewer
300	__cxa_pure_virtual	__cxa_pure_virtual
304	EnvironmentBase::ReadTrimeshFile	__cxa_pure_virtual
308	__cxa_pure_virtual	__cxa_pure_virtual
312	__cxa_pure_virtual	__cxa_pure_virtual
316	__cxa_pure_virtual	__cxa_pure_virtual
320	__cxa_pure_virtual	__cxa_pure_virtual
324	__cxa_pure_virtual	__cxa_pure_virtual
328	__cxa_pure_virtual	__cxa_pure_virtual
332	__cxa_pure_virtual	EnvironmentBase::LoadProblem
336	__cxa_pure_virtual	__cxa_pure_virtual
340	__cxa_pure_virtual	__cxa_pure_virtual
344	__cxa_pure_virtual	EnvironmentBase::GetLoadedProblems
348	__cxa_pure_virtual	__cxa_pure_virtual
352	__cxa_pure_virtual	__cxa_pure_virtual
356	__cxa_pure_virtual	__cxa_pure_virtual
360	__cxa_pure_virtual	__cxa_pure_virtual
364	__cxa_pure_virtual	__cxa_pure_virtual
368	EnvironmentBase::AttachViewer	__cxa_pure_virtual
372	__cxa_pure_virtual	__cxa_pure_virtual
376	__cxa_pure_virtual	__cxa_pure_virtual
380	__cxa_pure_virtual	__cxa_pure_virtual
384	__cxa_pure_virtual	__cxa_pure_virtual
388	__cxa_pure_virtual	__cxa_pure_virtual
392	__cxa_pure_virtual	__cxa_pure_virtual
396	__cxa_pure_virtual	__cxa_pure_virtual
400	__cxa_pure_virtual	__cxa_pure_virtual
404	EnvironmentBase::LoadProblem	__cxa_pure_virtual
408	__cxa_pure_virtual	EnvironmentBase::GetHash
412	__cxa_pure_virtual
416	EnvironmentBase::GetLoadedProblems
420	__cxa_pure_virtual
424	__cxa_pure_virtual
428	__cxa_pure_virtual
432	__cxa_pure_virtual
436	__cxa_pure_virtual
440	__cxa_pure_virtual
444	__cxa_pure_virtual
448	__cxa_pure_virtual
452	__cxa_pure_virtual
456	__cxa_pure_virtual
460	__cxa_pure_virtual
464	__cxa_pure_virtual
468	__cxa_pure_virtual
472	__cxa_pure_virtual
476	__cxa_pure_virtual
480	EnvironmentBase::GetHash

	Change	Effect
1	Size of v-table in this class has been changed from 64 bytes to 68 bytes.	The layout of v-tables in subclasses of this class has been changed. Call of any virtual method in subclasses may result in crash or incorrect behavior of applications.
2	Virtual method InterfaceBase::SetDescription ( std::string const& description ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 16 entries	Virtual Table (New) - 17 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~InterfaceBase	~InterfaceBase
12	~InterfaceBase	~InterfaceBase
16	InterfaceBase::GetDescription	InterfaceBase::GetDescription
20	InterfaceBase::SetUserData	InterfaceBase::SetDescription
24	InterfaceBase::SetUserData	InterfaceBase::SetUserData
28	InterfaceBase::GetUserData	InterfaceBase::SetUserData
32	InterfaceBase::GetURI	InterfaceBase::GetUserData
36	InterfaceBase::GetXMLFilename	InterfaceBase::GetURI
40	InterfaceBase::Clone	InterfaceBase::GetXMLFilename
44	InterfaceBase::SendCommand	InterfaceBase::Clone
48	InterfaceBase::RegisterCommand	InterfaceBase::SendCommand
52	InterfaceBase::UnregisterCommand	InterfaceBase::RegisterCommand
56	__cxa_pure_virtual	InterfaceBase::UnregisterCommand
60	InterfaceBase::_GetCommandHelp	__cxa_pure_virtual
64		InterfaceBase::_GetCommandHelp

	Change	Effect
1	Field _pGuiData has been removed from the middle position of this structural type.	1) Previous accesses of applications to the removed field will be incorrect. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
2	Size of this class has been increased from 508 bytes to 524 bytes.	1) An object of this class can be allocated by the applications and old size will be hardcoded at the compile time. Call of any exported constructor will break the memory of neighbouring objects on the stack or heap. 2) The memory layout and size of subclasses will be changed.
3	Size of v-table in this class has been changed from 460 bytes to 496 bytes.	The layout of v-tables in subclasses of this class has been changed. Call of any virtual method in subclasses may result in crash or incorrect behavior of applications.
4	Virtual method KinBody::GetConfigurationSpecification ( ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
5	Virtual method KinBody::GetConfigurationSpecificationIndices ( std::vector<int>const& indices ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
6	Virtual method KinBody::GetConfigurationValues ( std::vector<double>& v ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
7	Virtual method KinBody::GetDOFAccelerationLimits ( std::vector<double>& maxaccelerations ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
8	Virtual method KinBody::GetDOFTorqueLimits ( std::vector<double>& maxaccelerations ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
9	Virtual method KinBody::GetDOFVelocityLimits ( std::vector<double>& maxvelocities ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
10	Virtual method KinBody::GetLinkTransformations ( std::vector<Transform>& transforms, std::vector<int>& dofbranches ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
11	Virtual method KinBody::GetViewerData ( ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
12	Virtual method KinBody::IsVisible ( ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
13	Virtual method KinBody::SetConfigurationValues ( std::vector<double>::const_iterator itvalues, bool checklimits ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
14	Virtual method KinBody::SetLinkTransformations ( std::vector<Transform>const& transforms, std::vector<int>const& dofbranches ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
15	Virtual method KinBody::SetViewerData ( UserDataPtr&restrict pdata ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
16	Virtual method KinBody::SetVisible ( bool visible ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
17	Virtual method KinBody::GetJointLimits ( std::vector<double>& vLowerLimit, std::vector<double>& vUpperLimit ) const has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
18	Virtual method KinBody::GetJointValues ( std::vector<double>& v ) const has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
19	Virtual method KinBody::GetJointVelocities ( std::vector<double>& v ) const has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
20	Virtual method KinBody::GetJointWeights ( std::vector<double>& v ) const has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
21	Virtual method KinBody::SetGuiData ( UserDataPtr&restrict data ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 115 entries	Virtual Table (New) - 124 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~KinBody	~KinBody
12	~KinBody	~KinBody
16	InterfaceBase::GetDescription	InterfaceBase::GetDescription
20	InterfaceBase::SetUserData	InterfaceBase::SetDescription
24	InterfaceBase::SetUserData	InterfaceBase::SetUserData
28	InterfaceBase::GetUserData	InterfaceBase::SetUserData
32	InterfaceBase::GetURI	InterfaceBase::GetUserData
36	InterfaceBase::GetXMLFilename	InterfaceBase::GetURI
40	KinBody::Clone	InterfaceBase::GetXMLFilename
44	InterfaceBase::SendCommand	KinBody::Clone
48	InterfaceBase::RegisterCommand	InterfaceBase::SendCommand
52	InterfaceBase::UnregisterCommand	InterfaceBase::RegisterCommand
56	KinBody::GetHash	InterfaceBase::UnregisterCommand
60	InterfaceBase::_GetCommandHelp	KinBody::GetHash
64	KinBody::Destroy	InterfaceBase::_GetCommandHelp
68	KinBody::InitFromFile	KinBody::Destroy
72	KinBody::InitFromData	KinBody::InitFromFile
76	KinBody::InitFromBoxes	KinBody::InitFromData
80	KinBody::InitFromBoxes	KinBody::InitFromBoxes
84	KinBody::InitFromSpheres	KinBody::InitFromBoxes
88	KinBody::InitFromTrimesh	KinBody::InitFromSpheres
92	KinBody::GetName	KinBody::InitFromTrimesh
96	KinBody::SetName	KinBody::GetName
100	KinBody::GetDOF	KinBody::SetName
104	KinBody::GetDOFValues	KinBody::GetDOF
108	KinBody::GetDOFVelocities	KinBody::GetDOFValues
112	KinBody::GetDOFLimits	KinBody::GetDOFVelocities
116	KinBody::GetDOFVelocityLimits	KinBody::GetDOFLimits
120	KinBody::GetDOFMaxVel	KinBody::GetDOFVelocityLimits
124	KinBody::GetDOFMaxAccel	KinBody::GetDOFVelocityLimits
128	KinBody::GetDOFMaxTorque	KinBody::GetDOFAccelerationLimits
132	KinBody::GetDOFResolutions	KinBody::GetDOFTorqueLimits
136	KinBody::GetDOFWeights	KinBody::GetDOFMaxVel
140	KinBody::GetJointValues	KinBody::GetDOFMaxAccel
144	KinBody::GetJointVelocities	KinBody::GetDOFMaxTorque
148	KinBody::GetJointLimits	KinBody::GetDOFResolutions
152	KinBody::GetJointMaxVel	KinBody::GetDOFWeights
156	KinBody::GetJointMaxAccel	KinBody::SetDOFVelocityLimits
160	KinBody::GetJointMaxTorque	KinBody::SetDOFAccelerationLimits
164	KinBody::GetJointResolutions	KinBody::SetDOFTorqueLimits
168	KinBody::GetJointWeights	KinBody::SetDOFWeights
172	KinBody::GetRigidlyAttachedLinks	KinBody::GetRigidlyAttachedLinks
176	KinBody::GetDependencyOrderedJoints	KinBody::GetDependencyOrderedJoints
180	KinBody::GetClosedLoops	KinBody::GetClosedLoops
184	KinBody::GetChain	KinBody::GetChain
188	KinBody::GetChain	KinBody::GetChain
192	KinBody::IsDOFInChain	KinBody::IsDOFInChain
196	KinBody::GetJointIndex	KinBody::GetJointIndex
200	KinBody::GetJoint	KinBody::GetJoint
204	KinBody::GetJointFromDOFIndex	KinBody::GetJointFromDOFIndex
208	KinBody::SubtractDOFValues	KinBody::SubtractDOFValues
212	KinBody::SubtractJointValues	KinBody::SubtractJointValues
216	KinBody::SetDOFTorques	KinBody::SetDOFTorques
220	KinBody::SetJointTorques	KinBody::SetJointTorques
224	KinBody::GetLinks	KinBody::GetLinks
228	KinBody::GetLink	KinBody::GetLink
232	KinBody::SimulationStep	KinBody::SimulationStep
236	KinBody::GetLinkTransformations	KinBody::GetLinkTransformations
240	KinBody::GetBodyTransformations	KinBody::GetLinkTransformations
244	KinBody::GetTransform	KinBody::GetBodyTransformations
248	KinBody::SetVelocity	KinBody::GetTransform
252	KinBody::SetDOFVelocities	KinBody::SetVelocity
256	KinBody::SetDOFVelocities	KinBody::SetDOFVelocities
260	KinBody::GetLinkVelocities	KinBody::SetDOFVelocities
264	KinBody::SetTransform	KinBody::GetLinkVelocities
268	KinBody::ComputeAABB	KinBody::SetTransform
272	KinBody::GetCenterOfMass	KinBody::ComputeAABB
276	KinBody::Enable	KinBody::GetCenterOfMass
280	KinBody::EnableLink	KinBody::Enable
284	KinBody::IsEnabled	KinBody::EnableLink
288	KinBody::SetDOFValues	KinBody::IsEnabled
292	KinBody::SetJointValues	KinBody::SetVisible
296	KinBody::SetDOFValues	KinBody::IsVisible
300	KinBody::SetJointValues	KinBody::SetDOFValues
304	KinBody::SetLinkTransformations	KinBody::SetJointValues
308	KinBody::SetBodyTransformations	KinBody::SetDOFValues
312	KinBody::SetLinkVelocities	KinBody::SetJointValues
316	KinBody::CalculateJacobian	KinBody::SetLinkTransformations
320	KinBody::CalculateJacobian	KinBody::SetLinkTransformations
324	KinBody::CalculateRotationJacobian	KinBody::SetBodyTransformations
328	KinBody::CalculateRotationJacobian	KinBody::SetLinkVelocities
332	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateJacobian
336	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateJacobian
340	KinBody::CheckSelfCollision	KinBody::CalculateRotationJacobian
344	KinBody::IsAttached	KinBody::CalculateRotationJacobian
348	KinBody::GetAttached	KinBody::CalculateAngularVelocityJacobian
352	KinBody::IsRobot	KinBody::CalculateAngularVelocityJacobian
356	KinBody::GetEnvironmentId	KinBody::CheckSelfCollision
360	KinBody::DoesAffect	KinBody::IsAttached
364	KinBody::SetGuiData	KinBody::GetAttached
368	KinBody::GetGuiData	KinBody::IsRobot
372	KinBody::GetNonAdjacentLinks	KinBody::GetEnvironmentId
376	KinBody::GetAdjacentLinks	KinBody::DoesAffect
380	KinBody::GetPhysicsData	KinBody::GetViewerData
384	KinBody::GetCollisionData	KinBody::GetGuiData
388	KinBody::GetManageData	KinBody::GetNonAdjacentLinks
392	KinBody::GetUpdateStamp	KinBody::GetAdjacentLinks
396	KinBody::RegisterChangeCallback	KinBody::GetPhysicsData
400	KinBody::serialize	KinBody::GetCollisionData
404	KinBody::GetKinematicsGeometryHash	KinBody::GetManageData
408	KinBody::SetJointVelocities	KinBody::GetUpdateStamp
412	KinBody::GetVelocity	KinBody::RegisterChangeCallback
416	KinBody::SetZeroConfiguration	KinBody::serialize
420	KinBody::SetPhysicsData	KinBody::GetKinematicsGeometryHash
424	KinBody::SetCollisionData	KinBody::SetJointVelocities
428	KinBody::SetManageData	KinBody::GetVelocity
432	KinBody::_ComputeInternalInformation	KinBody::SetZeroConfiguration
436	KinBody::_ParametersChanged	KinBody::GetConfigurationSpecification
440	KinBody::_IsAttached	KinBody::GetConfigurationSpecificationIndices
444	KinBody::_AttachBody	KinBody::SetConfigurationValues
448	KinBody::_RemoveAttachedBody	KinBody::GetConfigurationValues
452	KinBody::_ResetInternalCollisionCache	KinBody::SetPhysicsData
456	KinBody::_CreateFunctionParser	KinBody::SetCollisionData
460		KinBody::SetViewerData
464		KinBody::SetManageData
468		KinBody::_ComputeInternalInformation
472		KinBody::_ParametersChanged
476		KinBody::_IsAttached
480		KinBody::_AttachBody
484		KinBody::_RemoveAttachedBody
488		KinBody::_ResetInternalCollisionCache
492		KinBody::_CreateFunctionParser

	Change	Effect
1	Size of this class has been increased from 800 bytes to 812 bytes.	1) An object of this class can be allocated by the applications and old size will be hardcoded at the compile time. Call of any exported constructor will break the memory of neighbouring objects on the stack or heap. 2) The memory layout and size of subclasses will be changed.
2	Virtual method KinBody::Joint::GetAccelerationLimits ( std::vector<double>& vmax, bool bAppend ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
3	Virtual method KinBody::Joint::GetTorqueLimits ( std::vector<double>& vmax, bool bAppend ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
4	Virtual method KinBody::Joint::GetVelocityLimits ( std::vector<double>& vmax, bool bAppend ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
5	Virtual method KinBody::Joint::SetAccelerationLimits ( std::vector<double>const& vmax ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
6	Virtual method KinBody::Joint::SetTorqueLimits ( std::vector<double>const& vmax ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 34 entries	Virtual Table (New) - 39 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	KinBody::~Joint	KinBody::~Joint
12	KinBody::~Joint	KinBody::~Joint
16	KinBody::Joint::SetResolution	KinBody::Joint::SetResolution
20	KinBody::Joint::GetDOF	KinBody::Joint::GetDOF
24	KinBody::Joint::IsCircular	KinBody::Joint::IsCircular
28	KinBody::Joint::IsRevolute	KinBody::Joint::IsRevolute
32	KinBody::Joint::IsPrismatic	KinBody::Joint::IsPrismatic
36	KinBody::Joint::IsStatic	KinBody::Joint::IsStatic
40	KinBody::Joint::GetValues	KinBody::Joint::GetValues
44	KinBody::Joint::GetValue	KinBody::Joint::GetValue
48	KinBody::Joint::GetVelocities	KinBody::Joint::GetVelocities
52	KinBody::Joint::AddTorque	KinBody::Joint::AddTorque
56	KinBody::Joint::GetAnchor	KinBody::Joint::GetAnchor
60	KinBody::Joint::GetAxis	KinBody::Joint::GetAxis
64	KinBody::Joint::GetLimits	KinBody::Joint::GetLimits
68	KinBody::Joint::SetLimits	KinBody::Joint::SetLimits
72	KinBody::Joint::SetJointLimits	KinBody::Joint::SetJointLimits
76	KinBody::Joint::GetVelocityLimits	KinBody::Joint::GetVelocityLimits
80	KinBody::Joint::SetVelocityLimits	KinBody::Joint::GetVelocityLimits
84	KinBody::Joint::GetWeight	KinBody::Joint::SetVelocityLimits
88	KinBody::Joint::SetWeights	KinBody::Joint::GetAccelerationLimits
92	KinBody::Joint::SetWrapOffset	KinBody::Joint::SetAccelerationLimits
96	KinBody::Joint::SetOffset	KinBody::Joint::GetTorqueLimits
100	KinBody::Joint::serialize	KinBody::Joint::SetTorqueLimits
104	KinBody::Joint::GetHierarchyParentLink	KinBody::Joint::GetWeight
108	KinBody::Joint::GetHierarchyChildLink	KinBody::Joint::SetWeights
112	KinBody::Joint::GetInternalHierarchyAnchor	KinBody::Joint::SetWrapOffset
116	KinBody::Joint::GetInternalHierarchyAxis	KinBody::Joint::SetOffset
120	KinBody::Joint::GetInternalHierarchyLeftTransform	KinBody::Joint::serialize
124	KinBody::Joint::GetInternalHierarchyRightTransform	KinBody::Joint::GetHierarchyParentLink
128	KinBody::Joint::_ComputePartialVelocities	KinBody::Joint::GetHierarchyChildLink
132	KinBody::Joint::_ComputeInternalInformation	KinBody::Joint::GetInternalHierarchyAnchor
136		KinBody::Joint::GetInternalHierarchyAxis
140		KinBody::Joint::GetInternalHierarchyLeftTransform
144		KinBody::Joint::GetInternalHierarchyRightTransform
148		KinBody::Joint::_ComputePartialVelocities
152		KinBody::Joint::_ComputeInternalInformation

	Change	Effect
1	Size of this class has been increased from 52 bytes to 64 bytes.	1) An object of this class can be allocated by the applications and old size will be hardcoded at the compile time. Call of any exported constructor will break the memory of neighbouring objects on the stack or heap. 2) The memory layout and size of subclasses will be changed.
2	Virtual method KinBody::KinBodyStateSaver::Restore ( ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
3	Virtual method KinBody::KinBodyStateSaver::_RestoreKinBody ( ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 4 entries	Virtual Table (New) - 6 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	KinBody::~KinBodyStateSaver	KinBody::~KinBodyStateSaver
12	KinBody::~KinBodyStateSaver	KinBody::~KinBodyStateSaver
16		KinBody::KinBodyStateSaver::Restore
20		KinBody::KinBodyStateSaver::_RestoreKinBody

	Change	Effect
1	Field _transMass has been removed from the middle position of this structural type.	1) Previous accesses of applications to the removed field will be incorrect. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
2	Virtual method KinBody::Link::GetGlobalInertia ( ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
3	Virtual method KinBody::Link::GetLocalInertia ( ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
4	Virtual method KinBody::Link::IsVisible ( ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
5	Virtual method KinBody::Link::SetVisible ( bool visible ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
6	The relative position of virtual method KinBody::Link::Enable ( bool enable ) has been changed from 3 to 2.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
7	The relative position of virtual method KinBody::Link::IsEnabled ( ) const has been changed from 2 to 3.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 22 entries	Virtual Table (New) - 26 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	KinBody::~Link	KinBody::~Link
12	KinBody::~Link	KinBody::~Link
16	KinBody::Link::IsEnabled	KinBody::Link::Enable
20	KinBody::Link::Enable	KinBody::Link::IsEnabled
24	KinBody::Link::ComputeAABB	KinBody::Link::SetVisible
28	KinBody::Link::GetParentLinks	KinBody::Link::IsVisible
32	KinBody::Link::IsParentLink	KinBody::Link::ComputeAABB
36	KinBody::Link::SetStatic	KinBody::Link::GetParentLinks
40	KinBody::Link::SetTransform	KinBody::Link::IsParentLink
44	KinBody::Link::SetForce	KinBody::Link::GetLocalInertia
48	KinBody::Link::SetTorque	KinBody::Link::GetGlobalInertia
52	KinBody::Link::SetVelocity	KinBody::Link::SetStatic
56	KinBody::Link::GetVelocity	KinBody::Link::SetTransform
60	KinBody::Link::GetGeometry	KinBody::Link::SetForce
64	KinBody::Link::SwapGeometries	KinBody::Link::SetTorque
68	KinBody::Link::ValidateContactNormal	KinBody::Link::SetVelocity
72	KinBody::Link::IsRigidlyAttached	KinBody::Link::GetVelocity
76	KinBody::Link::GetRigidlyAttachedLinks	KinBody::Link::GetGeometry
80	KinBody::Link::serialize	KinBody::Link::SwapGeometries
84	KinBody::Link::_Update	KinBody::Link::ValidateContactNormal
88		KinBody::Link::IsRigidlyAttached
92		KinBody::Link::GetRigidlyAttachedLinks
96		KinBody::Link::serialize
100		KinBody::Link::_Update

	Change	Effect
1	Size of this class has been changed from 128 bytes to 136 bytes.	1) The class has only inline or auto-generated constructors which will be copied to applications at compile time and will allocate an older memory layout. Call of any exported method of this class may access a memory outside the allocated objects or inside the older memory structure and result in crash or incorrect behavior of applications. 2) The memory layout and size of subclasses will be changed.
2	Pure virtual method PlannerBase::PlanPath ( TrajectoryBasePtr ptraj ) has been added to this class.	1) Applications will not provide the implementation for this pure virtual method and therefore cause a crash in the library trying to call this method. 2) The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 21 entries	Virtual Table (New) - 26 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~PlannerBase	~PlannerBase
12	~PlannerBase	~PlannerBase
16	InterfaceBase::GetDescription	InterfaceBase::GetDescription
20	InterfaceBase::SetUserData	InterfaceBase::SetDescription
24	InterfaceBase::SetUserData	InterfaceBase::SetUserData
28	InterfaceBase::GetUserData	InterfaceBase::SetUserData
32	InterfaceBase::GetURI	InterfaceBase::GetUserData
36	InterfaceBase::GetXMLFilename	InterfaceBase::GetURI
40	InterfaceBase::Clone	InterfaceBase::GetXMLFilename
44	InterfaceBase::SendCommand	InterfaceBase::Clone
48	InterfaceBase::RegisterCommand	InterfaceBase::SendCommand
52	InterfaceBase::UnregisterCommand	InterfaceBase::RegisterCommand
56	PlannerBase::GetHash	InterfaceBase::UnregisterCommand
60	InterfaceBase::_GetCommandHelp	PlannerBase::GetHash
64	__cxa_pure_virtual	InterfaceBase::_GetCommandHelp
68	PlannerBase::InitPlan	__cxa_pure_virtual
72	__cxa_pure_virtual	PlannerBase::InitPlan
76	__cxa_pure_virtual	__cxa_pure_virtual
80	PlannerBase::_OptimizePath	PlannerBase::PlanPath
84		__cxa_pure_virtual
88		PlannerBase::RegisterPlanCallback
92		PlannerBase::_ProcessPostPlanners
96		PlannerBase::_OptimizePath
100		PlannerBase::_CallCallbacks

	Change	Effect
1	Field _sPathOptimizationParameters has been removed from the middle position of this structural type.	1) Previous accesses of applications to the removed field will be incorrect. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
2	Field _sPathOptimizationPlanner has been removed from the middle position of this structural type.	1) Previous accesses of applications to the removed field will be incorrect. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
3	Size of this class has been increased from 524 bytes to 564 bytes.	1) An object of this class can be allocated by the applications and old size will be hardcoded at the compile time. Call of any exported constructor will break the memory of neighbouring objects on the stack or heap. 2) The memory layout and size of subclasses will be changed.

	Change	Effect
1	Size of this class has been increased from 88 bytes to 100 bytes.	1) An object of this class can be allocated by the applications and old size will be hardcoded at the compile time. Call of any exported constructor will break the memory of neighbouring objects on the stack or heap. 2) The memory layout and size of subclasses will be changed.
2	First virtual method ManipulatorIKGoalSampler::GetIkParameterizationIndex ( int index ) has been added to this class.	1) The layout of type structure has been shifted by 4 bytes by the added v-table pointer. 2) Size of class has been increased by 4 bytes.
3	First virtual method ManipulatorIKGoalSampler::Sample ( std::vector<double>& vgoal ) has been added to this class.	1) The layout of type structure has been shifted by 4 bytes by the added v-table pointer. 2) Size of class has been increased by 4 bytes.
4	First virtual method ManipulatorIKGoalSampler::SetJitter ( OpenRAVE::dReal maxdist ) has been added to this class.	1) The layout of type structure has been shifted by 4 bytes by the added v-table pointer. 2) Size of class has been increased by 4 bytes.
5	First virtual method ManipulatorIKGoalSampler::SetSamplingProb ( OpenRAVE::dReal fsampleprob ) has been added to this class.	1) The layout of type structure has been shifted by 4 bytes by the added v-table pointer. 2) Size of class has been increased by 4 bytes.
6	First virtual method ManipulatorIKGoalSampler::~ManipulatorIKGoalSampler [in-charge-deleting] ( ) has been added to this class.	1) The layout of type structure has been shifted by 4 bytes by the added v-table pointer. 2) Size of class has been increased by 4 bytes.

	Change	Effect
1	Size of this class has been increased from 1172 bytes to 1204 bytes.	1) An object of this class can be allocated by the applications and old size will be hardcoded at the compile time. Call of any exported constructor will break the memory of neighbouring objects on the stack or heap. 2) The memory layout and size of subclasses will be changed.
2	Virtual method RobotBase::GetActiveDOFAccelerationLimits ( std::vector<double>& v ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
3	Virtual method RobotBase::GetActiveDOFVelocityLimits ( std::vector<double>& v ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
4	Virtual method RobotBase::GetAffineDOFIndex ( DOFAffine dof ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
5	Virtual method RobotBase::GetFullTrajectoryFromActive ( TrajectoryBasePtr pFullTraj, TrajectoryBaseConstPtr pActiveTraj, bool bOverwriteTransforms ) has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
6	The relative position of virtual method RobotBase::GetActiveManipulator ( ) has been changed from 53 to 52.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
7	The relative position of virtual method RobotBase::GetActiveManipulator ( ) const has been changed from 54 to 53.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
8	The relative position of virtual method RobotBase::SetActiveDOFs ( std::vector<int>const& dofindices, int affine ) has been changed from 3 to 2.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
9	The relative position of virtual method RobotBase::SetActiveDOFs ( std::vector<int>const& dofindices, int affine, Vector const& rotationaxis ) has been changed from 4 to 3.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
10	The relative position of virtual method RobotBase::SetActiveManipulator ( int index ) has been changed from 51 to 50.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
11	The relative position of virtual method RobotBase::SetActiveManipulator ( std::string const& manipname ) has been changed from 52 to 51.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
12	The relative position of virtual method RobotBase::SubtractActiveDOFValues ( std::vector<double>& q1, std::vector<double>const& q2 ) const has been changed from 50 to 49.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 198 entries	Virtual Table (New) - 209 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~RobotBase	~RobotBase
12	~RobotBase	~RobotBase
16	InterfaceBase::GetDescription	InterfaceBase::GetDescription
20	InterfaceBase::SetUserData	InterfaceBase::SetDescription
24	InterfaceBase::SetUserData	InterfaceBase::SetUserData
28	InterfaceBase::GetUserData	InterfaceBase::SetUserData
32	InterfaceBase::GetURI	InterfaceBase::GetUserData
36	InterfaceBase::GetXMLFilename	InterfaceBase::GetURI
40	RobotBase::Clone	InterfaceBase::GetXMLFilename
44	InterfaceBase::SendCommand	RobotBase::Clone
48	InterfaceBase::RegisterCommand	InterfaceBase::SendCommand
52	InterfaceBase::UnregisterCommand	InterfaceBase::RegisterCommand
56	RobotBase::GetHash	InterfaceBase::UnregisterCommand
60	InterfaceBase::_GetCommandHelp	RobotBase::GetHash
64	RobotBase::Destroy	InterfaceBase::_GetCommandHelp
68	RobotBase::InitFromFile	RobotBase::Destroy
72	RobotBase::InitFromData	RobotBase::InitFromFile
76	KinBody::InitFromBoxes	RobotBase::InitFromData
80	KinBody::InitFromBoxes	KinBody::InitFromBoxes
84	KinBody::InitFromSpheres	KinBody::InitFromBoxes
88	KinBody::InitFromTrimesh	KinBody::InitFromSpheres
92	KinBody::GetName	KinBody::InitFromTrimesh
96	KinBody::SetName	KinBody::GetName
100	KinBody::GetDOF	KinBody::SetName
104	KinBody::GetDOFValues	KinBody::GetDOF
108	KinBody::GetDOFVelocities	KinBody::GetDOFValues
112	KinBody::GetDOFLimits	KinBody::GetDOFVelocities
116	KinBody::GetDOFVelocityLimits	KinBody::GetDOFLimits
120	KinBody::GetDOFMaxVel	KinBody::GetDOFVelocityLimits
124	KinBody::GetDOFMaxAccel	KinBody::GetDOFVelocityLimits
128	KinBody::GetDOFMaxTorque	KinBody::GetDOFAccelerationLimits
132	KinBody::GetDOFResolutions	KinBody::GetDOFTorqueLimits
136	KinBody::GetDOFWeights	KinBody::GetDOFMaxVel
140	KinBody::GetJointValues	KinBody::GetDOFMaxAccel
144	KinBody::GetJointVelocities	KinBody::GetDOFMaxTorque
148	KinBody::GetJointLimits	KinBody::GetDOFResolutions
152	KinBody::GetJointMaxVel	KinBody::GetDOFWeights
156	KinBody::GetJointMaxAccel	KinBody::SetDOFVelocityLimits
160	KinBody::GetJointMaxTorque	KinBody::SetDOFAccelerationLimits
164	KinBody::GetJointResolutions	KinBody::SetDOFTorqueLimits
168	KinBody::GetJointWeights	KinBody::SetDOFWeights
172	KinBody::GetRigidlyAttachedLinks	KinBody::GetRigidlyAttachedLinks
176	KinBody::GetDependencyOrderedJoints	KinBody::GetDependencyOrderedJoints
180	KinBody::GetClosedLoops	KinBody::GetClosedLoops
184	KinBody::GetChain	KinBody::GetChain
188	KinBody::GetChain	KinBody::GetChain
192	KinBody::IsDOFInChain	KinBody::IsDOFInChain
196	KinBody::GetJointIndex	KinBody::GetJointIndex
200	KinBody::GetJoint	KinBody::GetJoint
204	KinBody::GetJointFromDOFIndex	KinBody::GetJointFromDOFIndex
208	KinBody::SubtractDOFValues	KinBody::SubtractDOFValues
212	KinBody::SubtractJointValues	KinBody::SubtractJointValues
216	KinBody::SetDOFTorques	KinBody::SetDOFTorques
220	KinBody::SetJointTorques	KinBody::SetJointTorques
224	KinBody::GetLinks	KinBody::GetLinks
228	KinBody::GetLink	KinBody::GetLink
232	RobotBase::SimulationStep	RobotBase::SimulationStep
236	KinBody::GetLinkTransformations	KinBody::GetLinkTransformations
240	KinBody::GetBodyTransformations	KinBody::GetLinkTransformations
244	KinBody::GetTransform	KinBody::GetBodyTransformations
248	KinBody::SetVelocity	KinBody::GetTransform
252	KinBody::SetDOFVelocities	KinBody::SetVelocity
256	KinBody::SetDOFVelocities	KinBody::SetDOFVelocities
260	KinBody::GetLinkVelocities	KinBody::SetDOFVelocities
264	RobotBase::SetTransform	KinBody::GetLinkVelocities
268	KinBody::ComputeAABB	RobotBase::SetTransform
272	KinBody::GetCenterOfMass	KinBody::ComputeAABB
276	KinBody::Enable	KinBody::GetCenterOfMass
280	KinBody::EnableLink	KinBody::Enable
284	KinBody::IsEnabled	KinBody::EnableLink
288	RobotBase::SetDOFValues	KinBody::IsEnabled
292	KinBody::SetJointValues	KinBody::SetVisible
296	RobotBase::SetDOFValues	KinBody::IsVisible
300	KinBody::SetJointValues	RobotBase::SetDOFValues
304	RobotBase::SetLinkTransformations	KinBody::SetJointValues
308	KinBody::SetBodyTransformations	RobotBase::SetDOFValues
312	KinBody::SetLinkVelocities	KinBody::SetJointValues
316	KinBody::CalculateJacobian	RobotBase::SetLinkTransformations
320	KinBody::CalculateJacobian	RobotBase::SetLinkTransformations
324	KinBody::CalculateRotationJacobian	KinBody::SetBodyTransformations
328	KinBody::CalculateRotationJacobian	KinBody::SetLinkVelocities
332	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateJacobian
336	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateJacobian
340	RobotBase::CheckSelfCollision	KinBody::CalculateRotationJacobian
344	KinBody::IsAttached	KinBody::CalculateRotationJacobian
348	KinBody::GetAttached	KinBody::CalculateAngularVelocityJacobian
352	RobotBase::IsRobot	KinBody::CalculateAngularVelocityJacobian
356	KinBody::GetEnvironmentId	RobotBase::CheckSelfCollision
360	KinBody::DoesAffect	KinBody::IsAttached
364	KinBody::SetGuiData	KinBody::GetAttached
368	KinBody::GetGuiData	RobotBase::IsRobot
372	RobotBase::GetNonAdjacentLinks	KinBody::GetEnvironmentId
376	KinBody::GetAdjacentLinks	KinBody::DoesAffect
380	KinBody::GetPhysicsData	KinBody::GetViewerData
384	KinBody::GetCollisionData	KinBody::GetGuiData
388	KinBody::GetManageData	RobotBase::GetNonAdjacentLinks
392	KinBody::GetUpdateStamp	KinBody::GetAdjacentLinks
396	KinBody::RegisterChangeCallback	KinBody::GetPhysicsData
400	RobotBase::serialize	KinBody::GetCollisionData
404	KinBody::GetKinematicsGeometryHash	KinBody::GetManageData
408	KinBody::SetJointVelocities	KinBody::GetUpdateStamp
412	KinBody::GetVelocity	KinBody::RegisterChangeCallback
416	KinBody::SetZeroConfiguration	RobotBase::serialize
420	KinBody::SetPhysicsData	KinBody::GetKinematicsGeometryHash
424	KinBody::SetCollisionData	KinBody::SetJointVelocities
428	KinBody::SetManageData	KinBody::GetVelocity
432	RobotBase::_ComputeInternalInformation	KinBody::SetZeroConfiguration
436	RobotBase::_ParametersChanged	KinBody::GetConfigurationSpecification
440	KinBody::_IsAttached	KinBody::GetConfigurationSpecificationIndices
444	KinBody::_AttachBody	KinBody::SetConfigurationValues
448	KinBody::_RemoveAttachedBody	KinBody::GetConfigurationValues
452	KinBody::_ResetInternalCollisionCache	KinBody::SetPhysicsData
456	KinBody::_CreateFunctionParser	KinBody::SetCollisionData
460	RobotBase::GetManipulators	KinBody::SetViewerData
464	RobotBase::SetMotion	KinBody::SetManageData
468	RobotBase::GetAttachedSensors	RobotBase::_ComputeInternalInformation
472	RobotBase::SetActiveDOFs	RobotBase::_ParametersChanged
476	RobotBase::SetActiveDOFs	KinBody::_IsAttached
480	RobotBase::GetActiveDOF	KinBody::_AttachBody
484	RobotBase::GetAffineDOF	KinBody::_RemoveAttachedBody
488	RobotBase::GetAffineDOFIndex	KinBody::_ResetInternalCollisionCache
492	RobotBase::GetActiveDOFIndices	KinBody::_CreateFunctionParser
496	RobotBase::GetAffineRotationAxis	RobotBase::GetManipulators
500	RobotBase::SetAffineTranslationLimits	RobotBase::GetAttachedSensors
504	RobotBase::SetAffineRotationAxisLimits	RobotBase::SetActiveDOFs
508	RobotBase::SetAffineRotation3DLimits	RobotBase::SetActiveDOFs
512	RobotBase::SetAffineRotationQuatLimits	RobotBase::GetActiveDOF
516	RobotBase::SetAffineTranslationMaxVels	RobotBase::GetAffineDOF
520	RobotBase::SetAffineRotationAxisMaxVels	RobotBase::GetAffineDOFIndex
524	RobotBase::SetAffineRotation3DMaxVels	RobotBase::GetActiveConfigurationSpecification
528	RobotBase::SetAffineRotationQuatMaxVels	RobotBase::GetActiveDOFIndices
532	RobotBase::SetAffineTranslationResolution	RobotBase::GetAffineRotationAxis
536	RobotBase::SetAffineRotationAxisResolution	RobotBase::SetAffineTranslationLimits
540	RobotBase::SetAffineRotation3DResolution	RobotBase::SetAffineRotationAxisLimits
544	RobotBase::SetAffineRotationQuatResolution	RobotBase::SetAffineRotation3DLimits
548	RobotBase::SetAffineTranslationWeights	RobotBase::SetAffineRotationQuatLimits
552	RobotBase::SetAffineRotationAxisWeights	RobotBase::SetAffineTranslationMaxVels
556	RobotBase::SetAffineRotation3DWeights	RobotBase::SetAffineRotationAxisMaxVels
560	RobotBase::SetAffineRotationQuatWeights	RobotBase::SetAffineRotation3DMaxVels
564	RobotBase::GetAffineTranslationLimits	RobotBase::SetAffineRotationQuatMaxVels
568	RobotBase::GetAffineRotationAxisLimits	RobotBase::SetAffineTranslationResolution
572	RobotBase::GetAffineRotation3DLimits	RobotBase::SetAffineRotationAxisResolution
576	RobotBase::GetAffineRotationQuatLimits	RobotBase::SetAffineRotation3DResolution
580	RobotBase::GetAffineTranslationMaxVels	RobotBase::SetAffineRotationQuatResolution
584	RobotBase::GetAffineRotationAxisMaxVels	RobotBase::SetAffineTranslationWeights
588	RobotBase::GetAffineRotation3DMaxVels	RobotBase::SetAffineRotationAxisWeights
592	RobotBase::GetAffineRotationQuatMaxVels	RobotBase::SetAffineRotation3DWeights
596	RobotBase::GetAffineTranslationResolution	RobotBase::SetAffineRotationQuatWeights
600	RobotBase::GetAffineRotationAxisResolution	RobotBase::GetAffineTranslationLimits
604	RobotBase::GetAffineRotation3DResolution	RobotBase::GetAffineRotationAxisLimits
608	RobotBase::GetAffineRotationQuatResolution	RobotBase::GetAffineRotation3DLimits
612	RobotBase::GetAffineTranslationWeights	RobotBase::GetAffineRotationQuatLimits
616	RobotBase::GetAffineRotationAxisWeights	RobotBase::GetAffineTranslationMaxVels
620	RobotBase::GetAffineRotation3DWeights	RobotBase::GetAffineRotationAxisMaxVels
624	RobotBase::GetAffineRotationQuatWeights	RobotBase::GetAffineRotation3DMaxVels
628	RobotBase::SetActiveDOFValues	RobotBase::GetAffineRotationQuatMaxVels
632	RobotBase::GetActiveDOFValues	RobotBase::GetAffineTranslationResolution
636	RobotBase::SetActiveDOFVelocities	RobotBase::GetAffineRotationAxisResolution
640	RobotBase::GetActiveDOFVelocities	RobotBase::GetAffineRotation3DResolution
644	RobotBase::GetActiveDOFLimits	RobotBase::GetAffineRotationQuatResolution
648	RobotBase::GetActiveDOFResolutions	RobotBase::GetAffineTranslationWeights
652	RobotBase::GetActiveDOFWeights	RobotBase::GetAffineRotationAxisWeights
656	RobotBase::GetActiveDOFMaxVel	RobotBase::GetAffineRotation3DWeights
660	RobotBase::GetActiveDOFMaxAccel	RobotBase::GetAffineRotationQuatWeights
664	RobotBase::SubtractActiveDOFValues	RobotBase::SetActiveDOFValues
668	RobotBase::SetActiveManipulator	RobotBase::GetActiveDOFValues
672	RobotBase::SetActiveManipulator	RobotBase::SetActiveDOFVelocities
676	RobotBase::GetActiveManipulator	RobotBase::GetActiveDOFVelocities
680	RobotBase::GetActiveManipulator	RobotBase::GetActiveDOFLimits
684	RobotBase::GetActiveManipulatorIndex	RobotBase::GetActiveDOFResolutions
688	RobotBase::GetFullTrajectoryFromActive	RobotBase::GetActiveDOFWeights
692	RobotBase::SetActiveMotion	RobotBase::GetActiveDOFVelocityLimits
696	RobotBase::SetActiveMotion	RobotBase::GetActiveDOFAccelerationLimits
700	RobotBase::CalculateActiveJacobian	RobotBase::GetActiveDOFMaxVel
704	RobotBase::CalculateActiveJacobian	RobotBase::GetActiveDOFMaxAccel
708	RobotBase::CalculateActiveRotationJacobian	RobotBase::SubtractActiveDOFValues
712	RobotBase::CalculateActiveRotationJacobian	RobotBase::SetActiveManipulator
716	RobotBase::CalculateActiveAngularVelocityJacobian	RobotBase::SetActiveManipulator
720	RobotBase::CalculateActiveAngularVelocityJacobian	RobotBase::GetActiveManipulator
724	RobotBase::Grab	RobotBase::GetActiveManipulator
728	RobotBase::Grab	RobotBase::GetActiveManipulatorIndex
732	RobotBase::Grab	RobotBase::SetMotion
736	RobotBase::Grab	RobotBase::SetActiveMotion
740	RobotBase::Release	RobotBase::SetActiveMotion
744	RobotBase::ReleaseAllGrabbed	RobotBase::CalculateActiveJacobian
748	RobotBase::RegrabAll	RobotBase::CalculateActiveJacobian
752	RobotBase::IsGrabbing	RobotBase::CalculateActiveRotationJacobian
756	RobotBase::GetGrabbed	RobotBase::CalculateActiveRotationJacobian
760	RobotBase::CheckLinkCollision	RobotBase::CalculateActiveAngularVelocityJacobian
764	RobotBase::GetRobotStructureHash	RobotBase::CalculateActiveAngularVelocityJacobian
768	RobotBase::GetController	RobotBase::Grab
772	RobotBase::SetController	RobotBase::Grab
776	RobotBase::SetController	RobotBase::Grab
780	RobotBase::_UpdateGrabbedBodies	RobotBase::Grab
784	RobotBase::_UpdateAttachedSensors	RobotBase::Release
788	RobotBase::GetKinBodyHash	RobotBase::ReleaseAllGrabbed
792		RobotBase::RegrabAll
796		RobotBase::IsGrabbing
800		RobotBase::GetGrabbed
804		RobotBase::CheckLinkCollision
808		RobotBase::GetRobotStructureHash
812		RobotBase::GetController
816		RobotBase::SetController
820		RobotBase::SetController
824		RobotBase::_UpdateGrabbedBodies
828		RobotBase::_UpdateAttachedSensors
832		RobotBase::GetKinBodyHash

	Change	Effect
1	Virtual method RobotBase::Manipulator::GetIkParameterization ( IkParameterizationType iktype ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
2	Virtual method RobotBase::Manipulator::GetLocalToolDirection ( ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
3	Virtual method RobotBase::Manipulator::GetLocalToolTransform ( ) const has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
4	Virtual method RobotBase::Manipulator::SetLocalToolTransform ( Transform const& t ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
5	Virtual method RobotBase::Manipulator::SetName ( std::string const& name ) has been added to this class.	The layout of v-table has been changed. Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.
6	Virtual method RobotBase::Manipulator::GetIkParameterization ( IkParameterization::Type iktype ) const has been removed from this class.	The layout of v-table has been changed. Call of this virtual method or any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 39 entries	Virtual Table (New) - 43 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	RobotBase::~Manipulator	RobotBase::~Manipulator
12	RobotBase::~Manipulator	RobotBase::~Manipulator
16	RobotBase::Manipulator::GetTransform	RobotBase::Manipulator::GetTransform
20	RobotBase::Manipulator::GetEndEffectorTransform	RobotBase::Manipulator::GetEndEffectorTransform
24	RobotBase::Manipulator::GetName	RobotBase::Manipulator::GetName
28	RobotBase::Manipulator::GetRobot	RobotBase::Manipulator::GetRobot
32	RobotBase::Manipulator::SetIkSolver	RobotBase::Manipulator::SetIkSolver
36	RobotBase::Manipulator::GetIkSolver	RobotBase::Manipulator::GetIkSolver
40	RobotBase::Manipulator::GetNumFreeParameters	RobotBase::Manipulator::GetNumFreeParameters
44	RobotBase::Manipulator::GetFreeParameters	RobotBase::Manipulator::GetFreeParameters
48	RobotBase::Manipulator::GetBase	RobotBase::Manipulator::GetBase
52	RobotBase::Manipulator::GetEndEffector	RobotBase::Manipulator::GetEndEffector
56	RobotBase::Manipulator::GetGraspTransform	RobotBase::Manipulator::GetLocalToolTransform
60	RobotBase::Manipulator::GetGripperIndices	RobotBase::Manipulator::SetLocalToolTransform
64	RobotBase::Manipulator::GetArmIndices	RobotBase::Manipulator::SetName
68	RobotBase::Manipulator::GetClosingDirection	RobotBase::Manipulator::GetGraspTransform
72	RobotBase::Manipulator::GetDirection	RobotBase::Manipulator::GetGripperIndices
76	RobotBase::Manipulator::FindIKSolution	RobotBase::Manipulator::GetArmIndices
80	RobotBase::Manipulator::FindIKSolution	RobotBase::Manipulator::GetClosingDirection
84	RobotBase::Manipulator::FindIKSolutions	RobotBase::Manipulator::GetLocalToolDirection
88	RobotBase::Manipulator::FindIKSolutions	RobotBase::Manipulator::GetDirection
92	RobotBase::Manipulator::GetIkParameterization	RobotBase::Manipulator::FindIKSolution
96	RobotBase::Manipulator::GetIkParameterization	RobotBase::Manipulator::FindIKSolution
100	RobotBase::Manipulator::GetChildJoints	RobotBase::Manipulator::FindIKSolutions
104	RobotBase::Manipulator::GetChildDOFIndices	RobotBase::Manipulator::FindIKSolutions
108	RobotBase::Manipulator::IsChildLink	RobotBase::Manipulator::GetIkParameterization
112	RobotBase::Manipulator::GetChildLinks	RobotBase::Manipulator::GetIkParameterization
116	RobotBase::Manipulator::GetIndependentLinks	RobotBase::Manipulator::GetChildJoints
120	RobotBase::Manipulator::CheckEndEffectorCollision	RobotBase::Manipulator::GetChildDOFIndices
124	RobotBase::Manipulator::CheckIndependentCollision	RobotBase::Manipulator::IsChildLink
128	RobotBase::Manipulator::IsGrabbing	RobotBase::Manipulator::GetChildLinks
132	RobotBase::Manipulator::CalculateJacobian	RobotBase::Manipulator::GetIndependentLinks
136	RobotBase::Manipulator::CalculateRotationJacobian	RobotBase::Manipulator::CheckEndEffectorCollision
140	RobotBase::Manipulator::CalculateAngularVelocityJacobian	RobotBase::Manipulator::CheckIndependentCollision
144	RobotBase::Manipulator::serialize	RobotBase::Manipulator::IsGrabbing
148	RobotBase::Manipulator::GetStructureHash	RobotBase::Manipulator::CalculateJacobian
152	RobotBase::Manipulator::GetKinematicsStructureHash	RobotBase::Manipulator::CalculateRotationJacobian
156		RobotBase::Manipulator::CalculateAngularVelocityJacobian
160		RobotBase::Manipulator::serialize
164		RobotBase::Manipulator::GetStructureHash
168		RobotBase::Manipulator::GetKinematicsStructureHash

	Change	Effect
1	Size of this class has been increased from 124 bytes to 136 bytes.	1) An object of this class can be allocated by the applications and old size will be hardcoded at the compile time. Call of any exported constructor will break the memory of neighbouring objects on the stack or heap. 2) The memory layout and size of subclasses will be changed.

environment.h
namespace OpenRAVE
[+] class EnvironmentBase (24)

interface.h
namespace OpenRAVE
[+] class InterfaceBase (2)

kinbody.h
namespace OpenRAVE
[+] class KinBody (21)
[+] class KinBody::Joint (6)
[+] class KinBody::KinBodyStateSaver (3)
[+] class KinBody::Link (7)

planner.h
namespace OpenRAVE
[+] class PlannerBase (2)
[+] class PlannerBase::PlannerParameters (3)

planningutils.h
namespace OpenRAVE::planningutils
[+] class ManipulatorIKGoalSampler (6)

robot.h
namespace OpenRAVE
[+] class RobotBase (12)
[+] class RobotBase::Manipulator (6)
[+] class RobotBase::RobotStateSaver (1)

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Problems with Symbols, High Severity (6)

	Change	Effect
1	Parameters list has been changed.	The name of the appropriate symbol for this function on binary level has been changed from _ZN8OpenRAVE13planningutils23LineCollisionConstraint5CheckEN5boost8weak_ptrINS_11PlannerBase17PlannerParametersEEENS2_10shared_ptrINS_9RobotBaseEEERKSt6vectorIdSaIdEESE_NS_12IntervalTypeENS7_ISt4listISC_SaISC_EEEE to _ZN8OpenRAVE13planningutils23LineCollisionConstraint5CheckEN5boost8weak_ptrINS_11PlannerBase17PlannerParametersEEENS2_10shared_ptrINS_7KinBodyEEERKSt6vectorIdSaIdEESE_NS_12IntervalTypeENS7_ISt4listISC_SaISC_EEEE. This may cause "undefined reference" linker error in old client applications.

	Change	Effect
1	Parameters list has been changed.	The name of the appropriate symbol for this function on binary level has been changed from _ZNK8OpenRAVE9RobotBase11Manipulator21GetIkParameterizationENS_18IkParameterization4TypeE to _ZNK8OpenRAVE9RobotBase11Manipulator21GetIkParameterizationENS_22IkParameterizationTypeE. This may cause "undefined reference" linker error in old client applications.

	Change	Effect
1	Parameters list has been changed.	The name of the appropriate symbol for this function on binary level has been changed from _ZN8OpenRAVE14TrajectoryBase14CalcTrajTimingEN5boost10shared_ptrIKNS_9RobotBaseEEENS0_10InterpEnumEbbd to _ZN8OpenRAVE14TrajectoryBase14CalcTrajTimingEN5boost10shared_ptrINS_9RobotBaseEEEibbd. This may cause "undefined reference" linker error in old client applications.

	Change	Effect
1	Parameters list has been changed.	The name of the appropriate symbol for this function on binary level has been changed from _ZNK8OpenRAVE14TrajectoryBase16SampleTrajectoryEdRNS0_6TPOINTE to _ZNK8OpenRAVE14TrajectoryBase16SampleTrajectoryEdRNS0_5PointE. This may cause "undefined reference" linker error in old client applications.

	Change	Effect
1	Parameters list has been changed.	The name of the appropriate symbol for this function on binary level has been changed from _ZN8OpenRAVE14TrajectoryBaseC2EN5boost10shared_ptrINS_15EnvironmentBaseEEEi to _ZN8OpenRAVE14TrajectoryBaseC2EN5boost10shared_ptrINS_15EnvironmentBaseEEE. This may cause "undefined reference" linker error in old client applications.

	Change	Effect
1	Parameters list has been changed.	The name of the appropriate symbol for this function on binary level has been changed from _ZN8OpenRAVE14TrajectoryBaseC1EN5boost10shared_ptrINS_15EnvironmentBaseEEEi to _ZN8OpenRAVE14TrajectoryBaseC1EN5boost10shared_ptrINS_15EnvironmentBaseEEE. This may cause "undefined reference" linker error in old client applications.

planningutils.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE::planningutils
[+] LineCollisionConstraint::Check ( OpenRAVE::PlannerBase::PlannerParametersWeakPtr _params, OpenRAVE::RobotBasePtr robot, std::vector<double>const& pQ0, std::vector<double>const& pQ1, OpenRAVE::IntervalType interval, OpenRAVE::PlannerBase::ConfigurationListPtr pvCheckedConfigurations ) (1)

robot.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
[+] RobotBase::Manipulator::GetIkParameterization ( IkParameterization::Type iktype ) const (1)

trajectory.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
[+] TrajectoryBase::CalcTrajTiming ( RobotBaseConstPtr robot, TrajectoryBase::InterpEnum interpolationMethod, bool bAutoCalcTiming, bool bActiveDOFs, dReal fMaxVelMult ) (1)
[+] TrajectoryBase::SampleTrajectory ( dReal time, TrajectoryBase::TPOINT& sample ) const (1)
[+] TrajectoryBase::TrajectoryBase [not-in-charge] ( EnvironmentBasePtr penv, int nDOF ) (1)
[+] TrajectoryBase::TrajectoryBase [in-charge] ( EnvironmentBasePtr penv, int nDOF ) (1)

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Problems with Data Types, Medium Severity (40)

	Change	Effect
1	Virtual method IkSolverBase::RegisterCustomFilter ( int priority ) has been added to this class instead of IkSolverBase::SetCustomFilter ( ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 26 entries	Virtual Table (New) - 29 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~IkSolverBase	~IkSolverBase
12	~IkSolverBase	~IkSolverBase
16	InterfaceBase::GetDescription	InterfaceBase::GetDescription
20	InterfaceBase::SetUserData	InterfaceBase::SetDescription
24	InterfaceBase::SetUserData	InterfaceBase::SetUserData
28	InterfaceBase::GetUserData	InterfaceBase::SetUserData
32	InterfaceBase::GetURI	InterfaceBase::GetUserData
36	InterfaceBase::GetXMLFilename	InterfaceBase::GetURI
40	InterfaceBase::Clone	InterfaceBase::GetXMLFilename
44	InterfaceBase::SendCommand	InterfaceBase::Clone
48	InterfaceBase::RegisterCommand	InterfaceBase::SendCommand
52	InterfaceBase::UnregisterCommand	InterfaceBase::RegisterCommand
56	IkSolverBase::GetHash	InterfaceBase::UnregisterCommand
60	InterfaceBase::_GetCommandHelp	IkSolverBase::GetHash
64	__cxa_pure_virtual	InterfaceBase::_GetCommandHelp
68	__cxa_pure_virtual	__cxa_pure_virtual
72	IkSolverBase::SetCustomFilter	__cxa_pure_virtual
76	__cxa_pure_virtual	IkSolverBase::RegisterCustomFilter
80	__cxa_pure_virtual	IkSolverBase::SetCustomFilter
84	__cxa_pure_virtual	__cxa_pure_virtual
88	__cxa_pure_virtual	__cxa_pure_virtual
92	__cxa_pure_virtual	__cxa_pure_virtual
96	__cxa_pure_virtual	__cxa_pure_virtual
100	IkSolverBase::Supports	__cxa_pure_virtual
104		__cxa_pure_virtual
108		IkSolverBase::Supports
112		IkSolverBase::_CallFilters

	Change	Effect
1	Field _pViewerData has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
2	Field _spec has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
3	Virtual method KinBody::SetDOFAccelerationLimits ( std::vector<double>const& maxlimits ) has been added to this class instead of KinBody::GetJointMaxAccel ( std::vector<double>& v ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
4	Virtual method KinBody::SetDOFTorqueLimits ( std::vector<double>const& maxlimits ) has been added to this class instead of KinBody::GetJointMaxTorque ( std::vector<double>& v ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
5	Virtual method KinBody::SetDOFVelocityLimits ( std::vector<double>const& maxlimits ) has been added to this class instead of KinBody::GetJointMaxVel ( std::vector<double>& v ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
6	Virtual method KinBody::SetDOFWeights ( std::vector<double>const& weights ) has been added to this class instead of KinBody::GetJointResolutions ( std::vector<double>& v ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 115 entries	Virtual Table (New) - 124 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~KinBody	~KinBody
12	~KinBody	~KinBody
16	InterfaceBase::GetDescription	InterfaceBase::GetDescription
20	InterfaceBase::SetUserData	InterfaceBase::SetDescription
24	InterfaceBase::SetUserData	InterfaceBase::SetUserData
28	InterfaceBase::GetUserData	InterfaceBase::SetUserData
32	InterfaceBase::GetURI	InterfaceBase::GetUserData
36	InterfaceBase::GetXMLFilename	InterfaceBase::GetURI
40	KinBody::Clone	InterfaceBase::GetXMLFilename
44	InterfaceBase::SendCommand	KinBody::Clone
48	InterfaceBase::RegisterCommand	InterfaceBase::SendCommand
52	InterfaceBase::UnregisterCommand	InterfaceBase::RegisterCommand
56	KinBody::GetHash	InterfaceBase::UnregisterCommand
60	InterfaceBase::_GetCommandHelp	KinBody::GetHash
64	KinBody::Destroy	InterfaceBase::_GetCommandHelp
68	KinBody::InitFromFile	KinBody::Destroy
72	KinBody::InitFromData	KinBody::InitFromFile
76	KinBody::InitFromBoxes	KinBody::InitFromData
80	KinBody::InitFromBoxes	KinBody::InitFromBoxes
84	KinBody::InitFromSpheres	KinBody::InitFromBoxes
88	KinBody::InitFromTrimesh	KinBody::InitFromSpheres
92	KinBody::GetName	KinBody::InitFromTrimesh
96	KinBody::SetName	KinBody::GetName
100	KinBody::GetDOF	KinBody::SetName
104	KinBody::GetDOFValues	KinBody::GetDOF
108	KinBody::GetDOFVelocities	KinBody::GetDOFValues
112	KinBody::GetDOFLimits	KinBody::GetDOFVelocities
116	KinBody::GetDOFVelocityLimits	KinBody::GetDOFLimits
120	KinBody::GetDOFMaxVel	KinBody::GetDOFVelocityLimits
124	KinBody::GetDOFMaxAccel	KinBody::GetDOFVelocityLimits
128	KinBody::GetDOFMaxTorque	KinBody::GetDOFAccelerationLimits
132	KinBody::GetDOFResolutions	KinBody::GetDOFTorqueLimits
136	KinBody::GetDOFWeights	KinBody::GetDOFMaxVel
140	KinBody::GetJointValues	KinBody::GetDOFMaxAccel
144	KinBody::GetJointVelocities	KinBody::GetDOFMaxTorque
148	KinBody::GetJointLimits	KinBody::GetDOFResolutions
152	KinBody::GetJointMaxVel	KinBody::GetDOFWeights
156	KinBody::GetJointMaxAccel	KinBody::SetDOFVelocityLimits
160	KinBody::GetJointMaxTorque	KinBody::SetDOFAccelerationLimits
164	KinBody::GetJointResolutions	KinBody::SetDOFTorqueLimits
168	KinBody::GetJointWeights	KinBody::SetDOFWeights
172	KinBody::GetRigidlyAttachedLinks	KinBody::GetRigidlyAttachedLinks
176	KinBody::GetDependencyOrderedJoints	KinBody::GetDependencyOrderedJoints
180	KinBody::GetClosedLoops	KinBody::GetClosedLoops
184	KinBody::GetChain	KinBody::GetChain
188	KinBody::GetChain	KinBody::GetChain
192	KinBody::IsDOFInChain	KinBody::IsDOFInChain
196	KinBody::GetJointIndex	KinBody::GetJointIndex
200	KinBody::GetJoint	KinBody::GetJoint
204	KinBody::GetJointFromDOFIndex	KinBody::GetJointFromDOFIndex
208	KinBody::SubtractDOFValues	KinBody::SubtractDOFValues
212	KinBody::SubtractJointValues	KinBody::SubtractJointValues
216	KinBody::SetDOFTorques	KinBody::SetDOFTorques
220	KinBody::SetJointTorques	KinBody::SetJointTorques
224	KinBody::GetLinks	KinBody::GetLinks
228	KinBody::GetLink	KinBody::GetLink
232	KinBody::SimulationStep	KinBody::SimulationStep
236	KinBody::GetLinkTransformations	KinBody::GetLinkTransformations
240	KinBody::GetBodyTransformations	KinBody::GetLinkTransformations
244	KinBody::GetTransform	KinBody::GetBodyTransformations
248	KinBody::SetVelocity	KinBody::GetTransform
252	KinBody::SetDOFVelocities	KinBody::SetVelocity
256	KinBody::SetDOFVelocities	KinBody::SetDOFVelocities
260	KinBody::GetLinkVelocities	KinBody::SetDOFVelocities
264	KinBody::SetTransform	KinBody::GetLinkVelocities
268	KinBody::ComputeAABB	KinBody::SetTransform
272	KinBody::GetCenterOfMass	KinBody::ComputeAABB
276	KinBody::Enable	KinBody::GetCenterOfMass
280	KinBody::EnableLink	KinBody::Enable
284	KinBody::IsEnabled	KinBody::EnableLink
288	KinBody::SetDOFValues	KinBody::IsEnabled
292	KinBody::SetJointValues	KinBody::SetVisible
296	KinBody::SetDOFValues	KinBody::IsVisible
300	KinBody::SetJointValues	KinBody::SetDOFValues
304	KinBody::SetLinkTransformations	KinBody::SetJointValues
308	KinBody::SetBodyTransformations	KinBody::SetDOFValues
312	KinBody::SetLinkVelocities	KinBody::SetJointValues
316	KinBody::CalculateJacobian	KinBody::SetLinkTransformations
320	KinBody::CalculateJacobian	KinBody::SetLinkTransformations
324	KinBody::CalculateRotationJacobian	KinBody::SetBodyTransformations
328	KinBody::CalculateRotationJacobian	KinBody::SetLinkVelocities
332	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateJacobian
336	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateJacobian
340	KinBody::CheckSelfCollision	KinBody::CalculateRotationJacobian
344	KinBody::IsAttached	KinBody::CalculateRotationJacobian
348	KinBody::GetAttached	KinBody::CalculateAngularVelocityJacobian
352	KinBody::IsRobot	KinBody::CalculateAngularVelocityJacobian
356	KinBody::GetEnvironmentId	KinBody::CheckSelfCollision
360	KinBody::DoesAffect	KinBody::IsAttached
364	KinBody::SetGuiData	KinBody::GetAttached
368	KinBody::GetGuiData	KinBody::IsRobot
372	KinBody::GetNonAdjacentLinks	KinBody::GetEnvironmentId
376	KinBody::GetAdjacentLinks	KinBody::DoesAffect
380	KinBody::GetPhysicsData	KinBody::GetViewerData
384	KinBody::GetCollisionData	KinBody::GetGuiData
388	KinBody::GetManageData	KinBody::GetNonAdjacentLinks
392	KinBody::GetUpdateStamp	KinBody::GetAdjacentLinks
396	KinBody::RegisterChangeCallback	KinBody::GetPhysicsData
400	KinBody::serialize	KinBody::GetCollisionData
404	KinBody::GetKinematicsGeometryHash	KinBody::GetManageData
408	KinBody::SetJointVelocities	KinBody::GetUpdateStamp
412	KinBody::GetVelocity	KinBody::RegisterChangeCallback
416	KinBody::SetZeroConfiguration	KinBody::serialize
420	KinBody::SetPhysicsData	KinBody::GetKinematicsGeometryHash
424	KinBody::SetCollisionData	KinBody::SetJointVelocities
428	KinBody::SetManageData	KinBody::GetVelocity
432	KinBody::_ComputeInternalInformation	KinBody::SetZeroConfiguration
436	KinBody::_ParametersChanged	KinBody::GetConfigurationSpecification
440	KinBody::_IsAttached	KinBody::GetConfigurationSpecificationIndices
444	KinBody::_AttachBody	KinBody::SetConfigurationValues
448	KinBody::_RemoveAttachedBody	KinBody::GetConfigurationValues
452	KinBody::_ResetInternalCollisionCache	KinBody::SetPhysicsData
456	KinBody::_CreateFunctionParser	KinBody::SetCollisionData
460		KinBody::SetViewerData
464		KinBody::SetManageData
468		KinBody::_ComputeInternalInformation
472		KinBody::_ParametersChanged
476		KinBody::_IsAttached
480		KinBody::_AttachBody
484		KinBody::_RemoveAttachedBody
488		KinBody::_ResetInternalCollisionCache
492		KinBody::_CreateFunctionParser

	Change	Effect
1	Field _vdofbranches has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.

	Change	Effect
1	Field _tMassFrame has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
2	Field _vinertiamoments has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.

	Change	Effect
1	Virtual method KinBody::Link::GEOMPROPERTIES::SetVisible ( bool visible ) has been added to this class instead of KinBody::Link::GEOMPROPERTIES::SetDraw ( bool bDraw ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
2	The layout of v-table has been changed for unknown reason.	Call of any method in this class may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 13 entries	Virtual Table (New) - 13 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	KinBody::Link::~GEOMPROPERTIES	KinBody::Link::~GEOMPROPERTIES
12	KinBody::Link::~GEOMPROPERTIES	KinBody::Link::~GEOMPROPERTIES
16	KinBody::Link::GEOMPROPERTIES::ComputeAABB	KinBody::Link::GEOMPROPERTIES::ComputeAABB
20	KinBody::Link::GEOMPROPERTIES::serialize	KinBody::Link::GEOMPROPERTIES::serialize
24	KinBody::Link::GEOMPROPERTIES::SetCollisionMesh	KinBody::Link::GEOMPROPERTIES::SetCollisionMesh
28	KinBody::Link::GEOMPROPERTIES::SetDraw	KinBody::Link::GEOMPROPERTIES::SetVisible
32	KinBody::Link::GEOMPROPERTIES::SetTransparency	KinBody::Link::GEOMPROPERTIES::SetTransparency
36	KinBody::Link::GEOMPROPERTIES::SetDiffuseColor	KinBody::Link::GEOMPROPERTIES::SetDiffuseColor
40	KinBody::Link::GEOMPROPERTIES::SetAmbientColor	KinBody::Link::GEOMPROPERTIES::SetAmbientColor
44	KinBody::Link::GEOMPROPERTIES::ValidateContactNormal	KinBody::Link::GEOMPROPERTIES::ValidateContactNormal
48	KinBody::Link::GEOMPROPERTIES::SetRenderFilename	KinBody::Link::GEOMPROPERTIES::SetRenderFilename

	Change	Effect
1	Type of field _type has been changed from IkParameterization::Type to IkParameterizationType of different format.	This field may be incorrectly initialized or accessed by applications.

	Change	Effect
1	Virtual method PlannerBase::RegisterPlanCallback ( ) has been added to this class.	The layout of v-table has been changed. This leaf class has no exported constructors and therefore applications will copy an old v-table of the class that will not contain a pointer to added virtual method. Call of any method in this class may result in crash or incorrect behavior of applications. NOTE: if new virtual method is called only from other new methods, then binary compatibility should not be affected.
2	Virtual method PlannerBase::_CallCallbacks ( PlannerBase::PlannerProgress const& progress ) has been added to this class.	The layout of v-table has been changed. This leaf class has no exported constructors and therefore applications will copy an old v-table of the class that will not contain a pointer to added virtual method. Call of any method in this class may result in crash or incorrect behavior of applications. NOTE: if new virtual method is called only from other new methods, then binary compatibility should not be affected.
3	Virtual method PlannerBase::_ProcessPostPlanners ( RobotBasePtr probot, TrajectoryBasePtr ptraj ) has been added to this class.	The layout of v-table has been changed. This leaf class has no exported constructors and therefore applications will copy an old v-table of the class that will not contain a pointer to added virtual method. Call of any method in this class may result in crash or incorrect behavior of applications. NOTE: if new virtual method is called only from other new methods, then binary compatibility should not be affected.

Offset	Virtual Table (Old) - 21 entries	Virtual Table (New) - 26 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~PlannerBase	~PlannerBase
12	~PlannerBase	~PlannerBase
16	InterfaceBase::GetDescription	InterfaceBase::GetDescription
20	InterfaceBase::SetUserData	InterfaceBase::SetDescription
24	InterfaceBase::SetUserData	InterfaceBase::SetUserData
28	InterfaceBase::GetUserData	InterfaceBase::SetUserData
32	InterfaceBase::GetURI	InterfaceBase::GetUserData
36	InterfaceBase::GetXMLFilename	InterfaceBase::GetURI
40	InterfaceBase::Clone	InterfaceBase::GetXMLFilename
44	InterfaceBase::SendCommand	InterfaceBase::Clone
48	InterfaceBase::RegisterCommand	InterfaceBase::SendCommand
52	InterfaceBase::UnregisterCommand	InterfaceBase::RegisterCommand
56	PlannerBase::GetHash	InterfaceBase::UnregisterCommand
60	InterfaceBase::_GetCommandHelp	PlannerBase::GetHash
64	__cxa_pure_virtual	InterfaceBase::_GetCommandHelp
68	PlannerBase::InitPlan	__cxa_pure_virtual
72	__cxa_pure_virtual	PlannerBase::InitPlan
76	__cxa_pure_virtual	__cxa_pure_virtual
80	PlannerBase::_OptimizePath	PlannerBase::PlanPath
84		__cxa_pure_virtual
88		PlannerBase::RegisterPlanCallback
92		PlannerBase::_ProcessPostPlanners
96		PlannerBase::_OptimizePath
100		PlannerBase::_CallCallbacks

	Change	Effect
1	Field _configurationspecification has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
2	Field _sPostProcessingParameters has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
3	Field _sPostProcessingPlanner has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
4	Field _vConfigAccelerationLimit has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.
5	Field _vConfigVelocityLimit has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.

	Change	Effect
1	Field _fjittermaxdist has been added at the middle position of this structural type.	1) Size of the inclusive type has been changed. 2) Layout of structure fields has been changed and therefore fields at higher positions of the structure definition may be incorrectly accessed by applications.

	Change	Effect
1	Virtual method RobotBase::GetActiveConfigurationSpecification ( ) const has been added to this class instead of RobotBase::GetAffineDOFIndex ( RobotBase::DOFAffine dof ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 198 entries	Virtual Table (New) - 209 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~RobotBase	~RobotBase
12	~RobotBase	~RobotBase
16	InterfaceBase::GetDescription	InterfaceBase::GetDescription
20	InterfaceBase::SetUserData	InterfaceBase::SetDescription
24	InterfaceBase::SetUserData	InterfaceBase::SetUserData
28	InterfaceBase::GetUserData	InterfaceBase::SetUserData
32	InterfaceBase::GetURI	InterfaceBase::GetUserData
36	InterfaceBase::GetXMLFilename	InterfaceBase::GetURI
40	RobotBase::Clone	InterfaceBase::GetXMLFilename
44	InterfaceBase::SendCommand	RobotBase::Clone
48	InterfaceBase::RegisterCommand	InterfaceBase::SendCommand
52	InterfaceBase::UnregisterCommand	InterfaceBase::RegisterCommand
56	RobotBase::GetHash	InterfaceBase::UnregisterCommand
60	InterfaceBase::_GetCommandHelp	RobotBase::GetHash
64	RobotBase::Destroy	InterfaceBase::_GetCommandHelp
68	RobotBase::InitFromFile	RobotBase::Destroy
72	RobotBase::InitFromData	RobotBase::InitFromFile
76	KinBody::InitFromBoxes	RobotBase::InitFromData
80	KinBody::InitFromBoxes	KinBody::InitFromBoxes
84	KinBody::InitFromSpheres	KinBody::InitFromBoxes
88	KinBody::InitFromTrimesh	KinBody::InitFromSpheres
92	KinBody::GetName	KinBody::InitFromTrimesh
96	KinBody::SetName	KinBody::GetName
100	KinBody::GetDOF	KinBody::SetName
104	KinBody::GetDOFValues	KinBody::GetDOF
108	KinBody::GetDOFVelocities	KinBody::GetDOFValues
112	KinBody::GetDOFLimits	KinBody::GetDOFVelocities
116	KinBody::GetDOFVelocityLimits	KinBody::GetDOFLimits
120	KinBody::GetDOFMaxVel	KinBody::GetDOFVelocityLimits
124	KinBody::GetDOFMaxAccel	KinBody::GetDOFVelocityLimits
128	KinBody::GetDOFMaxTorque	KinBody::GetDOFAccelerationLimits
132	KinBody::GetDOFResolutions	KinBody::GetDOFTorqueLimits
136	KinBody::GetDOFWeights	KinBody::GetDOFMaxVel
140	KinBody::GetJointValues	KinBody::GetDOFMaxAccel
144	KinBody::GetJointVelocities	KinBody::GetDOFMaxTorque
148	KinBody::GetJointLimits	KinBody::GetDOFResolutions
152	KinBody::GetJointMaxVel	KinBody::GetDOFWeights
156	KinBody::GetJointMaxAccel	KinBody::SetDOFVelocityLimits
160	KinBody::GetJointMaxTorque	KinBody::SetDOFAccelerationLimits
164	KinBody::GetJointResolutions	KinBody::SetDOFTorqueLimits
168	KinBody::GetJointWeights	KinBody::SetDOFWeights
172	KinBody::GetRigidlyAttachedLinks	KinBody::GetRigidlyAttachedLinks
176	KinBody::GetDependencyOrderedJoints	KinBody::GetDependencyOrderedJoints
180	KinBody::GetClosedLoops	KinBody::GetClosedLoops
184	KinBody::GetChain	KinBody::GetChain
188	KinBody::GetChain	KinBody::GetChain
192	KinBody::IsDOFInChain	KinBody::IsDOFInChain
196	KinBody::GetJointIndex	KinBody::GetJointIndex
200	KinBody::GetJoint	KinBody::GetJoint
204	KinBody::GetJointFromDOFIndex	KinBody::GetJointFromDOFIndex
208	KinBody::SubtractDOFValues	KinBody::SubtractDOFValues
212	KinBody::SubtractJointValues	KinBody::SubtractJointValues
216	KinBody::SetDOFTorques	KinBody::SetDOFTorques
220	KinBody::SetJointTorques	KinBody::SetJointTorques
224	KinBody::GetLinks	KinBody::GetLinks
228	KinBody::GetLink	KinBody::GetLink
232	RobotBase::SimulationStep	RobotBase::SimulationStep
236	KinBody::GetLinkTransformations	KinBody::GetLinkTransformations
240	KinBody::GetBodyTransformations	KinBody::GetLinkTransformations
244	KinBody::GetTransform	KinBody::GetBodyTransformations
248	KinBody::SetVelocity	KinBody::GetTransform
252	KinBody::SetDOFVelocities	KinBody::SetVelocity
256	KinBody::SetDOFVelocities	KinBody::SetDOFVelocities
260	KinBody::GetLinkVelocities	KinBody::SetDOFVelocities
264	RobotBase::SetTransform	KinBody::GetLinkVelocities
268	KinBody::ComputeAABB	RobotBase::SetTransform
272	KinBody::GetCenterOfMass	KinBody::ComputeAABB
276	KinBody::Enable	KinBody::GetCenterOfMass
280	KinBody::EnableLink	KinBody::Enable
284	KinBody::IsEnabled	KinBody::EnableLink
288	RobotBase::SetDOFValues	KinBody::IsEnabled
292	KinBody::SetJointValues	KinBody::SetVisible
296	RobotBase::SetDOFValues	KinBody::IsVisible
300	KinBody::SetJointValues	RobotBase::SetDOFValues
304	RobotBase::SetLinkTransformations	KinBody::SetJointValues
308	KinBody::SetBodyTransformations	RobotBase::SetDOFValues
312	KinBody::SetLinkVelocities	KinBody::SetJointValues
316	KinBody::CalculateJacobian	RobotBase::SetLinkTransformations
320	KinBody::CalculateJacobian	RobotBase::SetLinkTransformations
324	KinBody::CalculateRotationJacobian	KinBody::SetBodyTransformations
328	KinBody::CalculateRotationJacobian	KinBody::SetLinkVelocities
332	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateJacobian
336	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateJacobian
340	RobotBase::CheckSelfCollision	KinBody::CalculateRotationJacobian
344	KinBody::IsAttached	KinBody::CalculateRotationJacobian
348	KinBody::GetAttached	KinBody::CalculateAngularVelocityJacobian
352	RobotBase::IsRobot	KinBody::CalculateAngularVelocityJacobian
356	KinBody::GetEnvironmentId	RobotBase::CheckSelfCollision
360	KinBody::DoesAffect	KinBody::IsAttached
364	KinBody::SetGuiData	KinBody::GetAttached
368	KinBody::GetGuiData	RobotBase::IsRobot
372	RobotBase::GetNonAdjacentLinks	KinBody::GetEnvironmentId
376	KinBody::GetAdjacentLinks	KinBody::DoesAffect
380	KinBody::GetPhysicsData	KinBody::GetViewerData
384	KinBody::GetCollisionData	KinBody::GetGuiData
388	KinBody::GetManageData	RobotBase::GetNonAdjacentLinks
392	KinBody::GetUpdateStamp	KinBody::GetAdjacentLinks
396	KinBody::RegisterChangeCallback	KinBody::GetPhysicsData
400	RobotBase::serialize	KinBody::GetCollisionData
404	KinBody::GetKinematicsGeometryHash	KinBody::GetManageData
408	KinBody::SetJointVelocities	KinBody::GetUpdateStamp
412	KinBody::GetVelocity	KinBody::RegisterChangeCallback
416	KinBody::SetZeroConfiguration	RobotBase::serialize
420	KinBody::SetPhysicsData	KinBody::GetKinematicsGeometryHash
424	KinBody::SetCollisionData	KinBody::SetJointVelocities
428	KinBody::SetManageData	KinBody::GetVelocity
432	RobotBase::_ComputeInternalInformation	KinBody::SetZeroConfiguration
436	RobotBase::_ParametersChanged	KinBody::GetConfigurationSpecification
440	KinBody::_IsAttached	KinBody::GetConfigurationSpecificationIndices
444	KinBody::_AttachBody	KinBody::SetConfigurationValues
448	KinBody::_RemoveAttachedBody	KinBody::GetConfigurationValues
452	KinBody::_ResetInternalCollisionCache	KinBody::SetPhysicsData
456	KinBody::_CreateFunctionParser	KinBody::SetCollisionData
460	RobotBase::GetManipulators	KinBody::SetViewerData
464	RobotBase::SetMotion	KinBody::SetManageData
468	RobotBase::GetAttachedSensors	RobotBase::_ComputeInternalInformation
472	RobotBase::SetActiveDOFs	RobotBase::_ParametersChanged
476	RobotBase::SetActiveDOFs	KinBody::_IsAttached
480	RobotBase::GetActiveDOF	KinBody::_AttachBody
484	RobotBase::GetAffineDOF	KinBody::_RemoveAttachedBody
488	RobotBase::GetAffineDOFIndex	KinBody::_ResetInternalCollisionCache
492	RobotBase::GetActiveDOFIndices	KinBody::_CreateFunctionParser
496	RobotBase::GetAffineRotationAxis	RobotBase::GetManipulators
500	RobotBase::SetAffineTranslationLimits	RobotBase::GetAttachedSensors
504	RobotBase::SetAffineRotationAxisLimits	RobotBase::SetActiveDOFs
508	RobotBase::SetAffineRotation3DLimits	RobotBase::SetActiveDOFs
512	RobotBase::SetAffineRotationQuatLimits	RobotBase::GetActiveDOF
516	RobotBase::SetAffineTranslationMaxVels	RobotBase::GetAffineDOF
520	RobotBase::SetAffineRotationAxisMaxVels	RobotBase::GetAffineDOFIndex
524	RobotBase::SetAffineRotation3DMaxVels	RobotBase::GetActiveConfigurationSpecification
528	RobotBase::SetAffineRotationQuatMaxVels	RobotBase::GetActiveDOFIndices
532	RobotBase::SetAffineTranslationResolution	RobotBase::GetAffineRotationAxis
536	RobotBase::SetAffineRotationAxisResolution	RobotBase::SetAffineTranslationLimits
540	RobotBase::SetAffineRotation3DResolution	RobotBase::SetAffineRotationAxisLimits
544	RobotBase::SetAffineRotationQuatResolution	RobotBase::SetAffineRotation3DLimits
548	RobotBase::SetAffineTranslationWeights	RobotBase::SetAffineRotationQuatLimits
552	RobotBase::SetAffineRotationAxisWeights	RobotBase::SetAffineTranslationMaxVels
556	RobotBase::SetAffineRotation3DWeights	RobotBase::SetAffineRotationAxisMaxVels
560	RobotBase::SetAffineRotationQuatWeights	RobotBase::SetAffineRotation3DMaxVels
564	RobotBase::GetAffineTranslationLimits	RobotBase::SetAffineRotationQuatMaxVels
568	RobotBase::GetAffineRotationAxisLimits	RobotBase::SetAffineTranslationResolution
572	RobotBase::GetAffineRotation3DLimits	RobotBase::SetAffineRotationAxisResolution
576	RobotBase::GetAffineRotationQuatLimits	RobotBase::SetAffineRotation3DResolution
580	RobotBase::GetAffineTranslationMaxVels	RobotBase::SetAffineRotationQuatResolution
584	RobotBase::GetAffineRotationAxisMaxVels	RobotBase::SetAffineTranslationWeights
588	RobotBase::GetAffineRotation3DMaxVels	RobotBase::SetAffineRotationAxisWeights
592	RobotBase::GetAffineRotationQuatMaxVels	RobotBase::SetAffineRotation3DWeights
596	RobotBase::GetAffineTranslationResolution	RobotBase::SetAffineRotationQuatWeights
600	RobotBase::GetAffineRotationAxisResolution	RobotBase::GetAffineTranslationLimits
604	RobotBase::GetAffineRotation3DResolution	RobotBase::GetAffineRotationAxisLimits
608	RobotBase::GetAffineRotationQuatResolution	RobotBase::GetAffineRotation3DLimits
612	RobotBase::GetAffineTranslationWeights	RobotBase::GetAffineRotationQuatLimits
616	RobotBase::GetAffineRotationAxisWeights	RobotBase::GetAffineTranslationMaxVels
620	RobotBase::GetAffineRotation3DWeights	RobotBase::GetAffineRotationAxisMaxVels
624	RobotBase::GetAffineRotationQuatWeights	RobotBase::GetAffineRotation3DMaxVels
628	RobotBase::SetActiveDOFValues	RobotBase::GetAffineRotationQuatMaxVels
632	RobotBase::GetActiveDOFValues	RobotBase::GetAffineTranslationResolution
636	RobotBase::SetActiveDOFVelocities	RobotBase::GetAffineRotationAxisResolution
640	RobotBase::GetActiveDOFVelocities	RobotBase::GetAffineRotation3DResolution
644	RobotBase::GetActiveDOFLimits	RobotBase::GetAffineRotationQuatResolution
648	RobotBase::GetActiveDOFResolutions	RobotBase::GetAffineTranslationWeights
652	RobotBase::GetActiveDOFWeights	RobotBase::GetAffineRotationAxisWeights
656	RobotBase::GetActiveDOFMaxVel	RobotBase::GetAffineRotation3DWeights
660	RobotBase::GetActiveDOFMaxAccel	RobotBase::GetAffineRotationQuatWeights
664	RobotBase::SubtractActiveDOFValues	RobotBase::SetActiveDOFValues
668	RobotBase::SetActiveManipulator	RobotBase::GetActiveDOFValues
672	RobotBase::SetActiveManipulator	RobotBase::SetActiveDOFVelocities
676	RobotBase::GetActiveManipulator	RobotBase::GetActiveDOFVelocities
680	RobotBase::GetActiveManipulator	RobotBase::GetActiveDOFLimits
684	RobotBase::GetActiveManipulatorIndex	RobotBase::GetActiveDOFResolutions
688	RobotBase::GetFullTrajectoryFromActive	RobotBase::GetActiveDOFWeights
692	RobotBase::SetActiveMotion	RobotBase::GetActiveDOFVelocityLimits
696	RobotBase::SetActiveMotion	RobotBase::GetActiveDOFAccelerationLimits
700	RobotBase::CalculateActiveJacobian	RobotBase::GetActiveDOFMaxVel
704	RobotBase::CalculateActiveJacobian	RobotBase::GetActiveDOFMaxAccel
708	RobotBase::CalculateActiveRotationJacobian	RobotBase::SubtractActiveDOFValues
712	RobotBase::CalculateActiveRotationJacobian	RobotBase::SetActiveManipulator
716	RobotBase::CalculateActiveAngularVelocityJacobian	RobotBase::SetActiveManipulator
720	RobotBase::CalculateActiveAngularVelocityJacobian	RobotBase::GetActiveManipulator
724	RobotBase::Grab	RobotBase::GetActiveManipulator
728	RobotBase::Grab	RobotBase::GetActiveManipulatorIndex
732	RobotBase::Grab	RobotBase::SetMotion
736	RobotBase::Grab	RobotBase::SetActiveMotion
740	RobotBase::Release	RobotBase::SetActiveMotion
744	RobotBase::ReleaseAllGrabbed	RobotBase::CalculateActiveJacobian
748	RobotBase::RegrabAll	RobotBase::CalculateActiveJacobian
752	RobotBase::IsGrabbing	RobotBase::CalculateActiveRotationJacobian
756	RobotBase::GetGrabbed	RobotBase::CalculateActiveRotationJacobian
760	RobotBase::CheckLinkCollision	RobotBase::CalculateActiveAngularVelocityJacobian
764	RobotBase::GetRobotStructureHash	RobotBase::CalculateActiveAngularVelocityJacobian
768	RobotBase::GetController	RobotBase::Grab
772	RobotBase::SetController	RobotBase::Grab
776	RobotBase::SetController	RobotBase::Grab
780	RobotBase::_UpdateGrabbedBodies	RobotBase::Grab
784	RobotBase::_UpdateAttachedSensors	RobotBase::Release
788	RobotBase::GetKinBodyHash	RobotBase::ReleaseAllGrabbed
792		RobotBase::RegrabAll
796		RobotBase::IsGrabbing
800		RobotBase::GetGrabbed
804		RobotBase::CheckLinkCollision
808		RobotBase::GetRobotStructureHash
812		RobotBase::GetController
816		RobotBase::SetController
820		RobotBase::SetController
824		RobotBase::_UpdateGrabbedBodies
828		RobotBase::_UpdateAttachedSensors
832		RobotBase::GetKinBodyHash

	Change	Effect
1	Virtual method TrajectoryBase::AddPoint ( TrajectoryBase::Point const& p ) has been added to this class instead of TrajectoryBase::_SampleLinear ( TrajectoryBase::TPOINT const& p0, TrajectoryBase::TPOINT const& p1, TrajectoryBase::TSEGMENT const& seg, dReal time, TrajectoryBase::TPOINT& sample ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
2	Virtual method TrajectoryBase::CalcTrajTiming ( RobotBasePtr probot, int interp, bool autocalc, bool activedof, dReal fmaxvelmult ) has been added to this class instead of TrajectoryBase::_MinimumTimeTransform ( Transform const& t0, Transform const& t1 ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
3	Virtual method TrajectoryBase::GetDuration ( ) const has been added to this class instead of TrajectoryBase::GetDOF ( ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
4	Virtual method TrajectoryBase::GetInterpMethod ( ) const has been added to this class instead of TrajectoryBase::_MinimumTimeQuintic ( TrajectoryBase::TPOINT const& p0, TrajectoryBase::TPOINT const& p1, bool bActiveDOFs ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
5	Virtual method TrajectoryBase::GetNumWaypoints ( ) const has been added to this class instead of TrajectoryBase::Read ( std::istream& sout, RobotBasePtr robot ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
6	Virtual method TrajectoryBase::GetPoints ( ) const has been added to this class instead of TrajectoryBase::_RecalculateViaPointDerivatives ( ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
7	Virtual method TrajectoryBase::GetTotalDuration ( ) const has been added to this class instead of TrajectoryBase::_MinimumTimeLinear ( TrajectoryBase::TPOINT const& p0, TrajectoryBase::TPOINT const& p1, bool bActiveDOFs ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
8	Virtual method TrajectoryBase::GetWaypoints ( size_t startindex, size_t endindex, std::vector<double>& data ) const has been added to this class instead of TrajectoryBase::Read ( std::string const& filename, RobotBasePtr robot ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
9	Virtual method TrajectoryBase::GetWaypoints ( size_t startindex, size_t endindex, std::vector<double>& data, ConfigurationSpecification const& spec ) const has been added to this class instead of TrajectoryBase::Write ( std::string const& filename, int options ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
10	Virtual method TrajectoryBase::Insert ( size_t index, std::vector<double>const& data, ConfigurationSpecification const& spec, bool bOverwrite ) has been added to this class instead of TrajectoryBase::AddPoint ( TrajectoryBase::TPOINT const& p ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
11	Virtual method TrajectoryBase::Read ( std::istream& I, RobotBaseConstPtr&restrict p2 ) has been added to this class instead of TrajectoryBase::_MinimumTimeCubicZero ( TrajectoryBase::TPOINT const& p0, TrajectoryBase::TPOINT const& p1, bool bActiveDOFs ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
12	Virtual method TrajectoryBase::Remove ( size_t startindex, size_t endindex ) has been added to this class instead of TrajectoryBase::CalcTrajTiming ( RobotBaseConstPtr robot, TrajectoryBase::InterpEnum interpolationMethod, bool bAutoCalcTiming, bool bActiveDOFs, dReal fMaxVelMult ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
13	Virtual method TrajectoryBase::Sample ( std::vector<double>& data, dReal time ) const has been added to this class instead of TrajectoryBase::IsValid ( ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
14	Virtual method TrajectoryBase::Sample ( std::vector<double>& data, dReal time, ConfigurationSpecification const& spec ) const has been added to this class instead of TrajectoryBase::SampleTrajectory ( dReal time, TrajectoryBase::TPOINT& sample ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
15	Virtual method TrajectoryBase::SampleTrajectory ( dReal time, TrajectoryBase::Point& tp ) const has been added to this class instead of TrajectoryBase::_CalculateCubicCoefficients ( TrajectoryBase::TSEGMENT& p1, TrajectoryBase::TPOINT const& tp0, TrajectoryBase::TPOINT const& tp1 ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
16	Virtual method TrajectoryBase::deserialize ( std::istream& I ) has been added to this class instead of TrajectoryBase::_SetCubic ( bool bAutoCalcTiming, bool bActiveDOFs ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.
17	Virtual method TrajectoryBase::serialize ( std::ostream& O, int options ) const has been added to this class instead of TrajectoryBase::_SetLinear ( bool bAutoCalcTiming, bool bActiveDOFs ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.

Offset	Virtual Table (Old) - 41 entries	Virtual Table (New) - 40 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~TrajectoryBase	~TrajectoryBase
12	~TrajectoryBase	~TrajectoryBase
16	InterfaceBase::GetDescription	InterfaceBase::GetDescription
20	InterfaceBase::SetUserData	InterfaceBase::SetDescription
24	InterfaceBase::SetUserData	InterfaceBase::SetUserData
28	InterfaceBase::GetUserData	InterfaceBase::SetUserData
32	InterfaceBase::GetURI	InterfaceBase::GetUserData
36	InterfaceBase::GetXMLFilename	InterfaceBase::GetURI
40	InterfaceBase::Clone	InterfaceBase::GetXMLFilename
44	InterfaceBase::SendCommand	TrajectoryBase::Clone
48	InterfaceBase::RegisterCommand	InterfaceBase::SendCommand
52	InterfaceBase::UnregisterCommand	InterfaceBase::RegisterCommand
56	TrajectoryBase::GetHash	InterfaceBase::UnregisterCommand
60	InterfaceBase::_GetCommandHelp	TrajectoryBase::GetHash
64	TrajectoryBase::Reset	InterfaceBase::_GetCommandHelp
68	TrajectoryBase::Clear	__cxa_pure_virtual
72	TrajectoryBase::AddPoint	__cxa_pure_virtual
76	TrajectoryBase::CalcTrajTiming	__cxa_pure_virtual
80	TrajectoryBase::IsValid	__cxa_pure_virtual
84	TrajectoryBase::SampleTrajectory	__cxa_pure_virtual
88	TrajectoryBase::Write	TrajectoryBase::Sample
92	TrajectoryBase::Read	__cxa_pure_virtual
96	TrajectoryBase::Read	__cxa_pure_virtual
100	TrajectoryBase::Write	__cxa_pure_virtual
104	TrajectoryBase::GetDOF	TrajectoryBase::GetWaypoints
108	TrajectoryBase::_SetLinear	__cxa_pure_virtual
112	TrajectoryBase::_SetCubic	TrajectoryBase::serialize
116	TrajectoryBase::_CalculateCubicCoefficients	TrajectoryBase::deserialize
120	TrajectoryBase::_RecalculateViaPointDerivatives	TrajectoryBase::SampleTrajectory
124	TrajectoryBase::_MinimumTimeLinear	TrajectoryBase::GetPoints
128	TrajectoryBase::_MinimumTimeCubic	TrajectoryBase::GetTotalDuration
132	TrajectoryBase::_MinimumTimeCubicZero	TrajectoryBase::Write
136	TrajectoryBase::_MinimumTimeQuintic	TrajectoryBase::Read
140	TrajectoryBase::_MinimumTimeTransform	TrajectoryBase::GetInterpMethod
144	TrajectoryBase::_FindActiveInterval	TrajectoryBase::CalcTrajTiming
148	TrajectoryBase::_SampleLinear	TrajectoryBase::Clear
152	TrajectoryBase::_SampleLinearBlend	TrajectoryBase::AddPoint
156	TrajectoryBase::_SampleCubic	TrajectoryBase::Reset
160	TrajectoryBase::_SampleQuintic

iksolver.h
namespace OpenRAVE
[+] class IkSolverBase (1)

kinbody.h
namespace OpenRAVE
[+] class KinBody (6)
[+] class KinBody::KinBodyStateSaver (1)
[+] class KinBody::Link (2)
[+] class KinBody::Link::GEOMPROPERTIES (2)

openrave.h
namespace OpenRAVE
[+] class IkParameterization (1)

planner.h
namespace OpenRAVE
[+] class PlannerBase (3)
[+] class PlannerBase::PlannerParameters (5)

planningutils.h
namespace OpenRAVE::planningutils
[+] class ManipulatorIKGoalSampler (1)

robot.h
namespace OpenRAVE
[+] class RobotBase (1)

trajectory.h
namespace OpenRAVE
[+] class TrajectoryBase (17)

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Problems with Symbols, Medium Severity (2)

	Change	Effect
1	Type of return value has been changed from boost::shared_ptr<void> to UserDataPtr of different format.	Applications will obtain a different return value and execution may change.

	Change	Effect
1	Type of return value has been changed from boost::shared_ptr<void> to UserDataPtr of different format.	Applications will obtain a different return value and execution may change.

kinbody.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
[+] KinBody::RegisterChangeCallback ( int properties ) (1)

sensorsystem.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
[+] SimpleSensorSystem::RegisterXMLReaderId ( EnvironmentBasePtr penv, std::string const& xmlid ) [static] (1)

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Problems with Data Types, Low Severity (7)

	Change	Effect
1	Field _dofbranches has been added to this type.	Size of the inclusive type has been changed. NOTE: this field should be accessed only from the new library functions, otherwise it may result in crash or incorrect behavior of applications.

kinbody.h
namespace OpenRAVE
[+] class KinBody::Joint (1)
[+] class KinBody::Link (1)
[+] class KinBody::Link::GEOMPROPERTIES (1)

planner.h
namespace OpenRAVE
[+] class PlannerBase (1)

robot.h
namespace OpenRAVE
[+] class RobotBase (1)
[+] class RobotBase::Manipulator (1)

trajectory.h
namespace OpenRAVE
[+] class TrajectoryBase (1)

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Problems with Symbols, Low Severity (14)

kinbody.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
[+] KinBody::GetDOFLimits ( std::vector<double>& vLowerLimit, std::vector<double>& vUpperLimit ) const (2)
[+] KinBody::GetDOFVelocityLimits ( std::vector<double>& vLowerLimit, std::vector<double>& vUpperLimit ) const (2)
[+] KinBody::InitFromBoxes ( std::vector<AABB>const& boxes, bool draw ) (1)
[+] KinBody::InitFromBoxes ( std::vector<OBB>const& boxes, bool draw ) (1)
[+] KinBody::InitFromSpheres ( std::vector<Vector>const& vspheres, bool draw ) (2)
[+] KinBody::InitFromTrimesh ( KinBody::Link::TRIMESH const& trimesh, bool draw ) (1)
[+] KinBody::Joint::SetVelocityLimits ( std::vector<double>const& vmaxvel ) (1)

openrave.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
[+] RaveCreateTrajectory ( EnvironmentBasePtr penv, int nDOF ) (1)
[+] RaveGetIkParameterizationMap ( ) (1)

robot.h, libopenrave0.4.so.0.4.2
namespace OpenRAVE
[+] RobotBase::GetFullTrajectoryFromActive ( TrajectoryBasePtr pFullTraj, TrajectoryBaseConstPtr pActiveTraj, bool bOverwriteTransforms ) (1)
[+] RobotBase::SetLinkTransformations ( std::vector<Transform>const& vbodies ) (1)

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Problems with Constants (15)

interfacehashes.h
[+] OPENRAVE_COLLISIONCHECKER_HASH
[+] OPENRAVE_CONTROLLER_HASH
[+] OPENRAVE_ENVIRONMENT_HASH
[+] OPENRAVE_IKSOLVER_HASH
[+] OPENRAVE_KINBODY_HASH
[+] OPENRAVE_MODULE_HASH
[+] OPENRAVE_PHYSICSENGINE_HASH
[+] OPENRAVE_PLANNER_HASH
[+] OPENRAVE_PLUGININFO_HASH
[+] OPENRAVE_ROBOT_HASH
[+] OPENRAVE_SENSOR_HASH
[+] OPENRAVE_SENSORSYSTEM_HASH
[+] OPENRAVE_SPACESAMPLER_HASH
[+] OPENRAVE_TRAJECTORY_HASH
[+] OPENRAVE_VIEWER_HASH

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Other Changes in Data Types (1)

robot.h
namespace OpenRAVE
[+] class RobotBase::RobotStateSaver (1)

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Header Files (26)

collisionchecker.h
config.h
controller.h
environment.h
geometry.h
iksolver.h
interface.h
interfacehashes.h
kinbody.h
mathextra.h
module.h
openrave-core.h
openrave.h
plugin.h (openrave/plugin.h)
physicsengine.h
planner.h
planningutils.h
plugininfo.h
rave.h
plugin.h (rave/plugin.h)
robot.h
sensor.h
sensorsystem.h
spacesampler.h
trajectory.h
viewer.h

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Shared Libraries (2)

libopenrave-core0.4.so.0.4.2
libopenrave0.4.so.0.4.2

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	Change	Effect
1	1st parameter vLowerLimit has been renamed to lowerlimit.	Renaming of a parameter may indicate a change in its semantic meaning.
2	2nd parameter vUpperLimit has been renamed to upperlimit.	Renaming of a parameter may indicate a change in its semantic meaning.

	Change	Effect
1	1st parameter vLowerLimit has been renamed to lowerlimit.	Renaming of a parameter may indicate a change in its semantic meaning.
2	2nd parameter vUpperLimit has been renamed to upperlimit.	Renaming of a parameter may indicate a change in its semantic meaning.

	Change	Effect
1	1st parameter vspheres has been renamed to spheres.	Renaming of a parameter may indicate a change in its semantic meaning.
2	2nd parameter draw has been renamed to visible.	Renaming of a parameter may indicate a change in its semantic meaning.