Binary compatibility report for the OpenRAVE library between 0.6.2 and 0.6.4 versions on x86

Test Info

Library Name	OpenRAVE
Version #1	0.6.2
Version #2	0.6.4
CPU Type	x86
GCC Version	4.6.1

Test Results

Total Header Files	26
Total Shared Libraries	2
Total Symbols / Types	543 / 361
Verdict	Incompatible (3.3%)

Problem Summary

	Severity	Count
Added Symbols	-	5
Removed Symbols	High	2
Problems with Data Types	High	11
	Medium	0
	Low	1
Problems with Symbols	High	2
	Medium	0
	Low	0
Problems with Constants	Low	0

Added Symbols (5)

planningutils.h, libopenrave0.6.so.0.6.4
namespace OpenRAVE::planningutils
RetimeActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, std::string const& plannername, std::string const& plannerparameters )
SmoothActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, std::string const& plannername, std::string const& plannerparameters )

utils.h, libopenrave0.6.so.0.6.4
namespace OpenRAVE::utils
GetFilenameUntilSeparator ( std::istream& sinput, char separator )
GetMD5HashString ( std::string const& s )
GetMD5HashString ( std::vector<unsigned char>const& v )

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Removed Symbols (2)

planningutils.h, libopenrave0.6.so.0.6.2
namespace OpenRAVE::planningutils
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 )

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Problems with Data Types, High Severity (11)

	Change	Effect
1	The relative position of virtual method ConfigurationSpecification::AddGroup ( ConfigurationSpecification::Group const& ) has been changed from 18 to 27.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
2	The relative position of virtual method ConfigurationSpecification::ExtractAffineValues ( std::vector<double>::iterator, std::vector<double>::const_iterator, KinBodyConstPtr, int, int ) const has been changed from 23 to 22.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
3	The relative position of virtual method ConfigurationSpecification::ExtractDeltaTime ( dReal&, std::vector<double>::const_iterator ) const has been changed from 25 to 24.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
4	The relative position of virtual method ConfigurationSpecification::ExtractIkParameterization ( IkParameterization&, std::vector<double>::const_iterator, int ) const has been changed from 22 to 21.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
5	The relative position of virtual method ConfigurationSpecification::ExtractJointValues ( std::vector<double>::iterator, std::vector<double>::const_iterator, KinBodyConstPtr, std::vector<int>const&, int ) const has been changed from 24 to 23.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
6	The relative position of virtual method ConfigurationSpecification::ExtractTransform ( Transform&, std::vector<double>::const_iterator, KinBodyConstPtr ) const has been changed from 21 to 20.	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 ConfigurationSpecification::InsertDeltaTime ( std::vector<double>::iterator, dReal ) const has been changed from 27 to 26.	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 ConfigurationSpecification::InsertJointValues ( std::vector<double>::iterator, std::vector<double>::const_iterator, KinBodyConstPtr, std::vector<int>const&, int ) const has been changed from 26 to 25.	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 ConfigurationSpecification::operator+ ( ConfigurationSpecification const& ) const has been changed from 20 to 19.	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 ConfigurationSpecification::operator+= ( ConfigurationSpecification const& ) has been changed from 19 to 18.	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) - 30 entries	Virtual Table (New) - 30 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~ConfigurationSpecification	~ConfigurationSpecification
12	~ConfigurationSpecification	~ConfigurationSpecification
16	ConfigurationSpecification::GetDOF	ConfigurationSpecification::GetDOF
20	ConfigurationSpecification::IsValid	ConfigurationSpecification::IsValid
24	ConfigurationSpecification::operator==	ConfigurationSpecification::operator==
28	ConfigurationSpecification::operator!=	ConfigurationSpecification::operator!=
32	ConfigurationSpecification::GetGroupFromName	ConfigurationSpecification::GetGroupFromName
36	ConfigurationSpecification::GetGroupFromName	ConfigurationSpecification::GetGroupFromName
40	ConfigurationSpecification::FindCompatibleGroup	ConfigurationSpecification::FindCompatibleGroup
44	ConfigurationSpecification::FindCompatibleGroup	ConfigurationSpecification::FindCompatibleGroup
48	ConfigurationSpecification::FindTimeDerivativeGroup	ConfigurationSpecification::FindTimeDerivativeGroup
52	ConfigurationSpecification::FindTimeDerivativeGroup	ConfigurationSpecification::FindTimeDerivativeGroup
56	ConfigurationSpecification::AddVelocityGroups	ConfigurationSpecification::AddVelocityGroups
60	ConfigurationSpecification::ConvertToVelocitySpecification	ConfigurationSpecification::ConvertToVelocitySpecification
64	ConfigurationSpecification::GetTimeDerivativeSpecification	ConfigurationSpecification::GetTimeDerivativeSpecification
68	ConfigurationSpecification::ResetGroupOffsets	ConfigurationSpecification::ResetGroupOffsets
72	ConfigurationSpecification::AddDeltaTimeGroup	ConfigurationSpecification::AddDeltaTimeGroup
76	ConfigurationSpecification::AddGroup	ConfigurationSpecification::AddGroup
80	ConfigurationSpecification::AddGroup	ConfigurationSpecification::operator+=
84	ConfigurationSpecification::operator+=	ConfigurationSpecification::operator+
88	ConfigurationSpecification::operator+	ConfigurationSpecification::ExtractTransform
92	ConfigurationSpecification::ExtractTransform	ConfigurationSpecification::ExtractIkParameterization
96	ConfigurationSpecification::ExtractIkParameterization	ConfigurationSpecification::ExtractAffineValues
100	ConfigurationSpecification::ExtractAffineValues	ConfigurationSpecification::ExtractJointValues
104	ConfigurationSpecification::ExtractJointValues	ConfigurationSpecification::ExtractDeltaTime
108	ConfigurationSpecification::ExtractDeltaTime	ConfigurationSpecification::InsertJointValues
112	ConfigurationSpecification::InsertJointValues	ConfigurationSpecification::InsertDeltaTime
116	ConfigurationSpecification::InsertDeltaTime	ConfigurationSpecification::AddGroup

	Change	Effect
1	Size of this class has been increased from 100 bytes to 104 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.

openrave.h
namespace OpenRAVE
[+] class ConfigurationSpecification (10)

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

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Problems with Symbols, High Severity (2)

	Change	Effect
1	Parameters list has been changed.	The name of the appropriate symbol for this function on binary level has been changed from _ZN8OpenRAVE13planningutils25RetimeActiveDOFTrajectoryEN5boost10shared_ptrINS_14TrajectoryBaseEEENS2_INS_9RobotBaseEEEbdRKSs to _ZN8OpenRAVE13planningutils25RetimeActiveDOFTrajectoryEN5boost10shared_ptrINS_14TrajectoryBaseEEENS2_INS_9RobotBaseEEEbdRKSsS8_. 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 _ZN8OpenRAVE13planningutils25SmoothActiveDOFTrajectoryEN5boost10shared_ptrINS_14TrajectoryBaseEEENS2_INS_9RobotBaseEEEbdRKSs to _ZN8OpenRAVE13planningutils25SmoothActiveDOFTrajectoryEN5boost10shared_ptrINS_14TrajectoryBaseEEENS2_INS_9RobotBaseEEEbdRKSsS8_. This may cause "undefined reference" linker error in old client applications.

planningutils.h, libopenrave0.6.so.0.6.2
namespace OpenRAVE::planningutils
[+] RetimeActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, std::string const& plannername ) (1)
[+] SmoothActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, std::string const& plannername ) (1)

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Problems with Data Types, Low Severity (1)

	Change	Effect
1	Field _tempikindex 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.

planningutils.h
namespace OpenRAVE::planningutils
[+] class ManipulatorIKGoalSampler (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-core0.6.so.0.6.2
libopenrave0.6.so.0.6.2

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