Binary compatibility report for the OpenRAVE library between 0.6.6 and 0.8.0 versions on x86

Test Info

Library Name	OpenRAVE
Version #1	0.6.6
Version #2	0.8.0
CPU Type	x86
GCC Version	4.6.1

Test Results

Total Header Files	27
Total Shared Libraries	2
Total Symbols / Types	735 / 356
Verdict	Incompatible (71.6%)

Problem Summary

	Severity	Count
Added Symbols	-	154
Removed Symbols	High	68
Problems with Data Types	High	95
	Medium	41
	Low	14
Problems with Symbols	High	42
	Medium	2
	Low	15
Problems with Constants	Low	15
Other Changes in Data Types	-	34
Other Changes in Symbols	-	1

Added Symbols (154)

iksolver.h, libopenrave0.8.so.0.8.0
namespace OpenRAVE
IkReturn::Append ( IkReturn const& r )
IkReturn::Clear ( )
IkSolverBase::_CallFilters ( std::vector<double>& solution, RobotBase::ManipulatorPtr manipulator, IkParameterization const& param, IkReturnPtr ikreturn )
IkSolverBase::Solve ( IkParameterization const& param, std::vector<double>const& q0, int filteroptions, IkReturnPtr ikreturn )
IkSolverBase::Solve ( IkParameterization const& param, std::vector<double>const& q0, std::vector<double>const& vFreeParameters, int filteroptions, IkReturnPtr ikreturn )
IkSolverBase::SolveAll ( IkParameterization const& param, int filteroptions, std::vector<IkReturnPtr>& ikreturns )
IkSolverBase::SolveAll ( IkParameterization const& param, std::vector<double>const& vFreeParameters, int filteroptions, std::vector<IkReturnPtr>& ikreturns )

interface.h, libopenrave0.8.so.0.8.0
namespace OpenRAVE
InterfaceBase::GetReadableInterface ( std::string const& xmltag ) const
InterfaceBase::Serialize ( BaseXMLWriterPtr writer, int options ) const
InterfaceBase::SetReadableInterface ( std::string const& xmltag, XMLReadablePtr readable )

kinbody.h, libopenrave0.8.so.0.8.0
namespace OpenRAVE
KinBody::_ComputeDOFLinkVelocities ( std::vector<double>& dofvelocities, std::vector<std::pair<Vector, geometry::RaveVector<double> > >& linkvelocities, bool usebaselinkvelocity ) const
KinBody::_ComputeLinkAccelerations ( std::vector<double>const& dofvelocities, std::vector<double>const& dofaccelerations, std::vector<std::pair<Vector, geometry::RaveVector<double> > >const& linkvelocities, std::vector<std::pair<Vector, geometry::RaveVector<double> > >& linkaccelerations, Vector const& gravity ) const
KinBody::ComputeHessianAxisAngle ( int linkindex, std::vector<double>& hessian, std::vector<int>const& dofindices ) const
KinBody::ComputeHessianTranslation ( int linkindex, Vector const& position, std::vector<double>& hessian, std::vector<int>const& dofindices ) const
KinBody::ComputeInverseDynamics ( boost::array<std::vector<double>, 3u>& doftorquecomponents, std::vector<double>const& dofaccelerations, KinBody::ForceTorqueMap const& externalforcetorque ) const
KinBody::ComputeInverseDynamics ( std::vector<double>& doftorques, std::vector<double>const& dofaccelerations, KinBody::ForceTorqueMap const& externalforcetorque ) const
KinBody::ComputeJacobianAxisAngle ( int linkindex, std::vector<double>& jacobian, std::vector<int>const& dofindices ) const
KinBody::ComputeJacobianTranslation ( int linkindex, Vector const& position, std::vector<double>& jacobian, std::vector<int>const& dofindices ) const
KinBody::GetConfigurationSpecification ( std::string const& interpolation ) const
KinBody::GetConfigurationSpecificationIndices ( std::vector<int>const& indices, std::string const& interpolation ) const
KinBody::GetDOFAccelerationLimits ( std::vector<double>& maxaccelerations, std::vector<int>const& dofindices ) const
KinBody::GetDOFLimits ( std::vector<double>& lowerlimit, std::vector<double>& upperlimit, std::vector<int>const& dofindices ) const
KinBody::GetDOFResolutions ( std::vector<double>& v, std::vector<int>const& dofindices ) const
KinBody::GetDOFValues ( std::vector<double>& v, std::vector<int>const& dofindices ) const
KinBody::GetDOFVelocities ( std::vector<double>& v, std::vector<int>const& dofindices ) const
KinBody::GetDOFVelocityLimits ( std::vector<double>& lowerlimit, std::vector<double>& upperlimit, std::vector<int>const& dofindices ) const
KinBody::GetDOFVelocityLimits ( std::vector<double>& maxvelocities, std::vector<int>const& dofindices ) const
KinBody::GetDOFWeights ( std::vector<double>& v, std::vector<int>const& dofindices ) const
KinBody::GetLinkAccelerations ( std::vector<double>const& dofaccelerations, std::vector<std::pair<Vector, geometry::RaveVector<double> > >& linkaccelerations ) const
KinBody::InitFromGeometries ( std::list<KinBody::Link::GeometryInfo>const& geometries )
KinBody::Joint::_Eval ( int axis, uint32_t timederiv, std::vector<double>const& vdependentvalues, std::vector<double>& voutput )
KinBody::Joint::_GetVelocities ( std::vector<double>& values, bool bAppend, std::pair<Vector, geometry::RaveVector<double> >const& linkparentvelocity, std::pair<Vector, geometry::RaveVector<double> >const& linkchildvelocity ) const
KinBody::Joint::_GetVelocity ( int axis, std::pair<Vector, geometry::RaveVector<double> >const& linkparentvelocity, std::pair<Vector, geometry::RaveVector<double> >const& linkchildvelocity ) const
KinBody::Joint::GetAccelerationLimit ( int iaxis ) const
KinBody::Joint::GetLimit ( int iaxis ) const
KinBody::Joint::GetResolutions ( std::vector<double>& resolutions, bool bAppend ) const
KinBody::Joint::GetVelocity ( int axis ) const
KinBody::Joint::GetVelocityLimit ( int iaxis ) const
KinBody::Joint::GetWeights ( std::vector<double>& weights, bool bAppend ) const
KinBody::Joint::IsCircular ( int iaxis ) const
KinBody::Joint::Joint [in-charge] ( KinBodyPtr parent, KinBody::Joint::JointType type )
KinBody::Joint::Joint [not-in-charge] ( KinBodyPtr parent, KinBody::Joint::JointType type )
KinBody::Joint::SetResolution ( dReal resolution, int iaxis )
KinBody::Joint::SubtractValue ( dReal value1, dReal value2, int iaxis ) const
KinBody::KinBodyStateSaver::Release ( )
KinBody::KinBodyStateSaver::Restore ( boost::shared_ptr<KinBody> body )
KinBody::Link::Geometry::ComputeAABB ( Transform const& trans ) const
KinBody::Link::Geometry::Geometry [in-charge] ( boost::shared_ptr<KinBody::Link> parent, KinBody::Link::GeometryInfo const& info )
KinBody::Link::Geometry::Geometry [not-in-charge] ( boost::shared_ptr<KinBody::Link> parent, KinBody::Link::GeometryInfo const& info )
KinBody::Link::Geometry::serialize ( std::ostream& o, int options ) const
KinBody::Link::Geometry::SetAmbientColor ( geometry::RaveVector<float>const& color )
KinBody::Link::Geometry::SetCollisionMesh ( KinBody::Link::TRIMESH const& mesh )
KinBody::Link::Geometry::SetDiffuseColor ( geometry::RaveVector<float>const& color )
KinBody::Link::Geometry::SetRenderFilename ( std::string const& renderfilename )
KinBody::Link::Geometry::SetTransparency ( float f )
KinBody::Link::Geometry::SetVisible ( bool visible )
KinBody::Link::Geometry::ValidateContactNormal ( Vector const& position, Vector& normal ) const
KinBody::Link::GeometryInfo::GeometryInfo [in-charge] ( )
KinBody::Link::GeometryInfo::GeometryInfo [not-in-charge] ( )
KinBody::Link::GeometryInfo::InitCollisionMesh ( float fTessellation )
KinBody::Link::GetVelocity ( ) const
KinBody::Link::InitGeometries ( std::list<KinBody::Link::GeometryInfo>& geometries )
KinBody::Link::SetLocalMassFrame ( Transform const& massframe )
KinBody::Link::SetMass ( dReal mass )
KinBody::Link::SetPrincipalMomentsOfInertia ( Vector const& inertiamoments )
KinBody::Link::SwapGeometries ( boost::shared_ptr<KinBody::Link>& link )
KinBody::Serialize ( BaseXMLWriterPtr writer, int options ) const
KinBody::SetConfigurationValues ( std::vector<double>::const_iterator itvalues, uint32_t checklimits )
KinBody::SetDOFLimits ( std::vector<double>const& lower, std::vector<double>const& upper )
KinBody::SetDOFValues ( std::vector<double>const& values, Transform const& transform, uint32_t checklimits )
KinBody::SetDOFValues ( std::vector<double>const& values, uint32_t checklimits, std::vector<int>const& dofindices )
KinBody::SetDOFVelocities ( std::vector<double>const& dofvelocities, Vector const& linearvel, Vector const& angularvel, uint32_t checklimits )
KinBody::SetDOFVelocities ( std::vector<double>const& dofvelocities, uint32_t checklimits )
KinBody::SetDOFWeights ( std::vector<double>const& weights, std::vector<int>const& dofindices )
KinBody::SetNonCollidingConfiguration ( )
KinBody::SubtractDOFValues ( std::vector<double>& values1, std::vector<double>const& values2, std::vector<int>const& dofindices ) const

openrave.h, libopenrave0.8.so.0.8.0
namespace OpenRAVE
ConfigurationSpecification::AddDerivativeGroups ( int deriv, bool adddeltatime )
ConfigurationSpecification::ExtractTransform ( Transform& t, std::vector<double>::const_iterator itdata, KinBodyConstPtr pbody, int timederivative ) const
ConfigurationSpecification::GetInterpolationDerivative ( std::string const& interpolation, int deriv ) [static]
ConfigurationSpecification::Validate ( ) const
IkParameterization::GetConfigurationSpecification ( IkParameterizationType iktype, std::string const& interpolation ) [static]
RaveFindLocalFile ( std::string const& filename, std::string const& curdir )
RaveGetDataAccess ( )
RaveGetIkParameterizationMap ( int alllowercase )
RaveGetIkTypeFromUniqueId ( int uniqueid )
RaveGetTransformFromAffineDOFValues ( Transform& t, std::vector<double>::const_iterator itvalues, int affinedofs, Vector const& vActvAffineRotationAxis, bool normalize )
RaveSetDataAccess ( int accessoptions )

planner.h, libopenrave0.8.so.0.8.0
namespace OpenRAVE
PlannerBase::PlannerParameters::SetConfigurationSpecification ( EnvironmentBasePtr env, ConfigurationSpecification const& spec )
PlannerBase::PlannerParameters::StateSaver::Restore ( )
PlannerBase::PlannerParameters::StateSaver::StateSaver [in-charge] ( boost::shared_ptr<PlannerBase::PlannerParameters> params )
PlannerBase::PlannerParameters::StateSaver::StateSaver [not-in-charge] ( boost::shared_ptr<PlannerBase::PlannerParameters> params )
PlannerBase::PlannerParameters::StateSaver::~StateSaver [in-charge-deleting] ( )
PlannerBase::PlannerParameters::StateSaver::~StateSaver [in-charge] ( )
PlannerBase::PlannerParameters::StateSaver::~StateSaver [not-in-charge] ( )
PlannerBase::PlannerParameters::Validate ( ) const

plannerparameters.h, libopenrave0.8.so.0.8.0
namespace OpenRAVE
WorkspaceTrajectoryParameters::characters ( std::string const& ch )
WorkspaceTrajectoryParameters::endElement ( std::string const& name )
WorkspaceTrajectoryParameters::serialize ( std::ostream& O ) const
WorkspaceTrajectoryParameters::startElement ( std::string const& name, AttributesList const& atts )
WorkspaceTrajectoryParameters::WorkspaceTrajectoryParameters [in-charge] ( EnvironmentBasePtr penv )
WorkspaceTrajectoryParameters::WorkspaceTrajectoryParameters [not-in-charge] ( EnvironmentBasePtr penv )

planningutils.h, libopenrave0.8.so.0.8.0
namespace OpenRAVE::planningutils
ComputeTrajectoryDerivatives ( OpenRAVE::TrajectoryBasePtr traj, int maxderiv )
InsertActiveDOFWaypointWithRetiming ( int index, std::vector<double>const& dofvalues, std::vector<double>const& dofvelocities, OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, OpenRAVE::dReal fmaxvelmult, OpenRAVE::dReal fmaxaccelmult, std::string const& plannername )
InsertWaypointWithSmoothing ( int index, std::vector<double>const& dofvalues, std::vector<double>const& dofvelocities, OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::dReal fmaxvelmult, OpenRAVE::dReal fmaxaccelmult, std::string const& plannername )
LineCollisionConstraint::_CheckState ( )
LineCollisionConstraint::Check ( OpenRAVE::PlannerBase::PlannerParametersWeakPtr _params, std::vector<double>const& pQ0, std::vector<double>const& pQ1, OpenRAVE::IntervalType interval, OpenRAVE::PlannerBase::ConfigurationListPtr pvCheckedConfigurations )
LineCollisionConstraint::LineCollisionConstraint [in-charge] ( std::list<OpenRAVE::KinBodyPtr>const& listCheckCollisions, bool bCheckEnv )
LineCollisionConstraint::LineCollisionConstraint [not-in-charge] ( std::list<OpenRAVE::KinBodyPtr>const& listCheckCollisions, bool bCheckEnv )
ManipulatorIKGoalSampler::Sample ( )
ManipulatorIKGoalSampler::SampleAll ( std::list<OpenRAVE::IkReturnPtr>& samples )
RetimeActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, OpenRAVE::dReal fmaxaccelmult, std::string const& plannername, std::string const& plannerparameters )
RetimeTrajectory ( OpenRAVE::TrajectoryBasePtr traj, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, OpenRAVE::dReal fmaxaccelmult, std::string const& plannername, std::string const& plannerparameters )
SmoothActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, OpenRAVE::dReal fmaxvelmult, OpenRAVE::dReal fmaxaccelmult, std::string const& plannername, std::string const& plannerparameters )
SmoothAffineTrajectory ( OpenRAVE::TrajectoryBasePtr traj, std::vector<double>const& maxvelocities, std::vector<double>const& maxaccelerations, std::string const& plannername, std::string const& plannerparameters )
SmoothTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::dReal fmaxvelmult, OpenRAVE::dReal fmaxaccelmult, std::string const& plannername, std::string const& plannerparameters )

robot.h, libopenrave0.8.so.0.8.0
namespace OpenRAVE
RobotBase::_Regrab ( UserDataPtr pgrabbed )
RobotBase::AddManipulator ( RobotBase::ManipulatorInfo const& manipinfo )
RobotBase::GetActiveConfigurationSpecification ( std::string const& interpolation ) const
RobotBase::GetActiveManipulatorIndex ( ) const
RobotBase::Manipulator::_ComputeInternalInformation ( )
RobotBase::Manipulator::CalculateAngularVelocityJacobian ( std::vector<double>& jacobian ) const
RobotBase::Manipulator::CalculateJacobian ( std::vector<double>& jacobian ) const
RobotBase::Manipulator::CalculateRotationJacobian ( std::vector<double>& jacobian ) const
RobotBase::Manipulator::CheckEndEffectorCollision ( IkParameterization const& ikparam, CollisionReportPtr report ) const
RobotBase::Manipulator::FindIKSolution ( IkParameterization const& param, int filteroptions, IkReturnPtr ikreturn ) const
RobotBase::Manipulator::FindIKSolution ( IkParameterization const& param, std::vector<double>const& vFreeParameters, int filteroptions, IkReturnPtr ikreturn ) const
RobotBase::Manipulator::FindIKSolutions ( IkParameterization const& param, int filteroptions, std::vector<IkReturnPtr>& vikreturns ) const
RobotBase::Manipulator::FindIKSolutions ( IkParameterization const& param, std::vector<double>const& vFreeParameters, int filteroptions, std::vector<IkReturnPtr>& vikreturns ) const
RobotBase::Manipulator::GetArmConfigurationSpecification ( std::string const& interpolation ) const
RobotBase::Manipulator::GetIkParameterization ( IkParameterization const& ikparam, bool inworld ) const
RobotBase::Manipulator::GetIkParameterization ( IkParameterizationType iktype, bool inworld ) const
RobotBase::Manipulator::GetIkSolver ( ) const
RobotBase::Manipulator::GetVelocity ( ) const
RobotBase::RemoveManipulator ( RobotBase::ManipulatorPtr manip )
RobotBase::RobotStateSaver::Release ( )
RobotBase::RobotStateSaver::Restore ( boost::shared_ptr<RobotBase> robot )
RobotBase::SetActiveDOFValues ( std::vector<double>const& values, uint32_t checklimits )
RobotBase::SetActiveDOFVelocities ( std::vector<double>const& velocities, uint32_t checklimits )
RobotBase::SetActiveManipulator ( RobotBase::ManipulatorConstPtr pmanip )
RobotBase::SetDOFValues ( std::vector<double>const& vJointValues, Transform const& transbase, uint32_t checklimits )
RobotBase::SetDOFValues ( std::vector<double>const& vJointValues, uint32_t checklimits, std::vector<int>const& dofindices )
RobotBase::SetDOFVelocities ( std::vector<double>const& dofvelocities, Vector const& linearvel, Vector const& angularvel, uint32_t checklimits )
RobotBase::SetDOFVelocities ( std::vector<double>const& dofvelocities, uint32_t checklimits )
RobotBase::SetVelocity ( Vector const& linearvel, Vector const& angularvel )

xmlreaders.h, libopenrave0.8.so.0.8.0
namespace OpenRAVE::xmlreaders
GeometryInfoReader::characters ( std::string const& ch )
GeometryInfoReader::endElement ( std::string const& name )
GeometryInfoReader::GeometryInfoReader [in-charge] ( OpenRAVE::KinBody::Link::GeometryInfoPtr geom, OpenRAVE::AttributesList const& atts )
GeometryInfoReader::GeometryInfoReader [not-in-charge] ( OpenRAVE::KinBody::Link::GeometryInfoPtr geom, OpenRAVE::AttributesList const& atts )
GeometryInfoReader::startElement ( std::string const& name, OpenRAVE::AttributesList const& atts )
TrajectoryReader::characters ( std::string const& ch )
TrajectoryReader::endElement ( std::string const& name )
TrajectoryReader::startElement ( std::string const& name, OpenRAVE::AttributesList const& atts )
TrajectoryReader::TrajectoryReader [in-charge] ( OpenRAVE::EnvironmentBasePtr env, OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::AttributesList const& atts )
TrajectoryReader::TrajectoryReader [not-in-charge] ( OpenRAVE::EnvironmentBasePtr env, OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::AttributesList const& atts )

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Removed Symbols (68)

iksolver.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
IkSolverBase::_CallFilters ( std::vector<double>& solution, RobotBase::ManipulatorPtr manipulator, IkParameterization const& param )

kinbody.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
KinBody::_CreateFunctionParser ( )
KinBody::CalculateAngularVelocityJacobian ( int linkindex, std::vector<double>& pfJacobian ) const
KinBody::CalculateJacobian ( int linkindex, Vector const& offset, std::vector<double>& pfJacobian ) const
KinBody::GetConfigurationSpecification ( ) const
KinBody::GetConfigurationSpecificationIndices ( std::vector<int>const& indices ) const
KinBody::GetDOFAccelerationLimits ( std::vector<double>& maxaccelerations ) const
KinBody::GetDOFLimits ( std::vector<double>& lowerlimit, std::vector<double>& upperlimit ) const
KinBody::GetDOFResolutions ( std::vector<double>& v ) const
KinBody::GetDOFValues ( std::vector<double>& v ) const
KinBody::GetDOFVelocities ( std::vector<double>& v ) const
KinBody::GetDOFVelocityLimits ( std::vector<double>& lowerlimit, std::vector<double>& upperlimit ) const
KinBody::GetDOFVelocityLimits ( std::vector<double>& maxvelocities ) const
KinBody::GetDOFWeights ( std::vector<double>& v ) const
KinBody::GetRigidlyAttachedLinks ( int linkindex, std::vector<KinBody::LinkPtr>& vattachedlinks ) const
KinBody::GetVelocity ( Vector& linearvel, Vector& angularvel ) const
KinBody::InitFromData ( std::string const& data, AttributesList const& atts )
KinBody::InitFromFile ( std::string const& filename, AttributesList const& atts )
KinBody::InitFromGeometries ( std::list<KinBody::Link::GEOMPROPERTIES>& geometries, bool visible )
KinBody::Joint::GetInternalHierarchyAnchor ( ) const
KinBody::Joint::Joint [in-charge] ( KinBodyPtr parent )
KinBody::Joint::Joint [not-in-charge] ( KinBodyPtr parent )
KinBody::Joint::SetResolution ( dReal resolution )
KinBody::KinBodyStateSaver::Restore ( )
KinBody::Link::GEOMPROPERTIES::ComputeAABB ( Transform const& trans ) const
KinBody::Link::GEOMPROPERTIES::GEOMPROPERTIES [in-charge] ( boost::shared_ptr<KinBody::Link> parent )
KinBody::Link::GEOMPROPERTIES::GEOMPROPERTIES [not-in-charge] ( boost::shared_ptr<KinBody::Link> parent )
KinBody::Link::GEOMPROPERTIES::InitCollisionMesh ( float fTessellation )
KinBody::Link::GEOMPROPERTIES::serialize ( std::ostream& o, int options ) const
KinBody::Link::GEOMPROPERTIES::SetAmbientColor ( geometry::RaveVector<float>const& color )
KinBody::Link::GEOMPROPERTIES::SetCollisionMesh ( KinBody::Link::TRIMESH const& mesh )
KinBody::Link::GEOMPROPERTIES::SetDiffuseColor ( geometry::RaveVector<float>const& color )
KinBody::Link::GEOMPROPERTIES::SetRenderFilename ( std::string const& renderfilename )
KinBody::Link::GEOMPROPERTIES::SetTransparency ( float f )
KinBody::Link::GEOMPROPERTIES::SetVisible ( bool visible )
KinBody::Link::GEOMPROPERTIES::ValidateContactNormal ( Vector const& position, Vector& normal ) const
KinBody::Link::SwapGeometries ( std::list<KinBody::Link::GEOMPROPERTIES>& listNewGeometries )
KinBody::SetConfigurationValues ( std::vector<double>::const_iterator itvalues, bool checklimits )
KinBody::SetDOFValues ( std::vector<double>const& values, bool checklimits )
KinBody::SetDOFValues ( std::vector<double>const& values, Transform const& transform, bool checklimits )
KinBody::SetDOFVelocities ( std::vector<double>const& vDOFVelocities, bool checklimits )
KinBody::SetDOFVelocities ( std::vector<double>const& vDOFVelocities, Vector const& linearvel, Vector const& angularvel, bool checklimits )
KinBody::SetDOFWeights ( std::vector<double>const& weights )
KinBody::SubtractDOFValues ( std::vector<double>& values1, std::vector<double>const& values2 ) const
vtable for KinBody::Link::GEOMPROPERTIES [data]

openrave.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
ConfigurationSpecification::AddVelocityGroups ( bool adddeltatime )
ConfigurationSpecification::ExtractTransform ( Transform& t, std::vector<double>::const_iterator itdata, KinBodyConstPtr pbody ) const
ConfigurationSpecification::GetInterpolationDerivative ( std::string const& interpolation ) [static]
IkParameterization::GetConfigurationSpecification ( IkParameterizationType iktype ) [static]
RaveGetIkParameterizationMap ( )
RaveGetTransformFromAffineDOFValues ( Transform& t, std::vector<double>::const_iterator itvalues, int affinedofs, Vector const& vActvAffineRotationAxis )

planningutils.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE::planningutils
InsertActiveDOFWaypointWithRetiming ( int index, std::vector<double>const& dofvalues, std::vector<double>const& dofvelocities, OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, OpenRAVE::dReal fmaxvelmult, std::string const& plannername )
RetimeActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, std::string const& plannername, std::string const& plannerparameters )
SetPlannerParametersFromSpecification ( OpenRAVE::PlannerBase::PlannerParametersPtr parameters, OpenRAVE::ConfigurationSpecification const& spec )
SmoothActiveDOFTrajectory ( OpenRAVE::TrajectoryBasePtr traj, OpenRAVE::RobotBasePtr robot, bool hastimestamps, OpenRAVE::dReal fmaxvelmult, std::string const& plannername, std::string const& plannerparameters )
SmoothAffineTrajectory ( OpenRAVE::TrajectoryBasePtr traj, std::vector<double>const& maxvelocities, std::vector<double>const& maxaccelerations, bool hastimestamps, std::string const& plannername, std::string const& plannerparameters )

robot.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
RobotBase::GetActiveConfigurationSpecification ( ) const
RobotBase::InitFromData ( std::string const& data, AttributesList const& atts )
RobotBase::InitFromFile ( std::string const& filename, AttributesList const& atts )
RobotBase::Manipulator::GetFreeParameters ( std::vector<double>& vFreeParameters ) const
RobotBase::Manipulator::GetIkParameterization ( IkParameterization const& ikparam ) const
RobotBase::Manipulator::GetIkParameterization ( IkParameterizationType iktype ) const
RobotBase::Manipulator::GetNumFreeParameters ( ) const
RobotBase::RobotStateSaver::Restore ( )
RobotBase::SetActiveDOFValues ( std::vector<double>const& values, bool checklimits )
RobotBase::SetActiveDOFVelocities ( std::vector<double>const& velocities, bool checklimits )
RobotBase::SetDOFValues ( std::vector<double>const& vJointValues, bool checklimits )
RobotBase::SetDOFValues ( std::vector<double>const& vJointValues, Transform const& transbase, bool checklimits )

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Problems with Data Types, High Severity (95)

	Change	Effect
1	Pure_Virtual method CollisionCheckerBase::Enable ( KinBodyConstPtr, bool ) 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.
2	Pure_Virtual method CollisionCheckerBase::EnableLink ( KinBody::LinkConstPtr, bool ) 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) - 37 entries	Virtual Table (New) - 38 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~CollisionCheckerBase	~CollisionCheckerBase
12	~CollisionCheckerBase	~CollisionCheckerBase
16	InterfaceBase::GetDescription	InterfaceBase::GetReadableInterface
20	InterfaceBase::SetDescription	InterfaceBase::SetReadableInterface
24	InterfaceBase::SetUserData	InterfaceBase::GetDescription
28	InterfaceBase::SetUserData	InterfaceBase::SetDescription
32	InterfaceBase::GetUserData	InterfaceBase::SetUserData
36	InterfaceBase::GetURI	InterfaceBase::SetUserData
40	InterfaceBase::GetXMLFilename	InterfaceBase::GetUserData
44	InterfaceBase::Clone	InterfaceBase::GetURI
48	InterfaceBase::SendCommand	InterfaceBase::GetXMLFilename
52	InterfaceBase::RegisterCommand	InterfaceBase::Clone
56	InterfaceBase::UnregisterCommand	InterfaceBase::SendCommand
60	CollisionCheckerBase::GetHash	InterfaceBase::Serialize
64	InterfaceBase::_GetCommandHelp	InterfaceBase::RegisterCommand
68	__cxa_pure_virtual	InterfaceBase::UnregisterCommand
72	__cxa_pure_virtual	CollisionCheckerBase::GetHash
76	__cxa_pure_virtual	InterfaceBase::_GetCommandHelp
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	CollisionCheckerBase::SetCollisionData	__cxa_pure_virtual
148		CollisionCheckerBase::SetCollisionData

	Change	Effect
1	Virtual method ControllerBase::Init ( RobotBasePtr&restrict, std::string 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) - 30 entries	Virtual Table (New) - 32 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~ControllerBase	~ControllerBase
12	~ControllerBase	~ControllerBase
16	InterfaceBase::GetDescription	InterfaceBase::GetReadableInterface
20	InterfaceBase::SetDescription	InterfaceBase::SetReadableInterface
24	InterfaceBase::SetUserData	InterfaceBase::GetDescription
28	InterfaceBase::SetUserData	InterfaceBase::SetDescription
32	InterfaceBase::GetUserData	InterfaceBase::SetUserData
36	InterfaceBase::GetURI	InterfaceBase::SetUserData
40	InterfaceBase::GetXMLFilename	InterfaceBase::GetUserData
44	InterfaceBase::Clone	InterfaceBase::GetURI
48	InterfaceBase::SendCommand	InterfaceBase::GetXMLFilename
52	InterfaceBase::RegisterCommand	InterfaceBase::Clone
56	InterfaceBase::UnregisterCommand	InterfaceBase::SendCommand
60	ControllerBase::GetHash	InterfaceBase::Serialize
64	InterfaceBase::_GetCommandHelp	InterfaceBase::RegisterCommand
68	ControllerBase::Init	InterfaceBase::UnregisterCommand
72	__cxa_pure_virtual	ControllerBase::GetHash
76	__cxa_pure_virtual	InterfaceBase::_GetCommandHelp
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	ControllerBase::GetTime	__cxa_pure_virtual
112	ControllerBase::GetVelocity	__cxa_pure_virtual
116	ControllerBase::GetTorque	ControllerBase::GetTime
120		ControllerBase::GetVelocity
124		ControllerBase::GetTorque

	Change	Effect
1	Pure virtual method EnvironmentBase::Add ( InterfaceBasePtr, bool, std::string 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::Clone ( EnvironmentBaseConstPtr, int ) 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::GetSensors ( std::vector<SensorBasePtr>&, uint64_t ) 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::LoadURI ( std::string const&, AttributesList 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.
5	Pure virtual method EnvironmentBase::Save ( std::string const&, EnvironmentBase::SelectionOptions, AttributesList 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.
6	Pure virtual method EnvironmentBase::UpdatePublishedBodies ( uint64_t ) 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.
7	Pure_Virtual method EnvironmentBase::GetBodies ( std::vector<KinBodyPtr>& ) 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.
8	Pure_Virtual method EnvironmentBase::GetSensors ( std::vector<SensorBasePtr>& ) 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.
9	Pure_Virtual method EnvironmentBase::ParseXMLData ( BaseXMLReaderPtr, std::string 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.
10	Pure_Virtual method EnvironmentBase::ParseXMLFile ( BaseXMLReaderPtr, std::string 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.
11	Pure_Virtual method EnvironmentBase::RemoveKinBody ( KinBodyPtr ) 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::RemoveProblem ( ModuleBasePtr ) 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::SetDebugLevel ( uint32_t ) 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) - 103 entries	Virtual Table (New) - 101 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	EnvironmentBase::LoadXMLData	__cxa_pure_virtual
152	__cxa_pure_virtual	__cxa_pure_virtual
156	__cxa_pure_virtual	EnvironmentBase::LoadXMLData
160	EnvironmentBase::ReadRobotXMLFile	__cxa_pure_virtual
164	EnvironmentBase::ReadRobotURI	EnvironmentBase::Save
168	EnvironmentBase::ReadRobotXMLFile	__cxa_pure_virtual
172	__cxa_pure_virtual	EnvironmentBase::ReadRobotXMLFile
176	EnvironmentBase::ReadRobotXMLData	EnvironmentBase::ReadRobotURI
180	__cxa_pure_virtual	EnvironmentBase::ReadRobotXMLFile
184	EnvironmentBase::ReadKinBodyXMLFile	__cxa_pure_virtual
188	EnvironmentBase::ReadKinBodyURI	EnvironmentBase::ReadRobotXMLData
192	EnvironmentBase::ReadKinBodyXMLFile	__cxa_pure_virtual
196	__cxa_pure_virtual	EnvironmentBase::ReadKinBodyXMLFile
200	EnvironmentBase::ReadKinBodyXMLData	EnvironmentBase::ReadKinBodyURI
204	__cxa_pure_virtual	EnvironmentBase::ReadKinBodyXMLFile
208	EnvironmentBase::ReadInterfaceXMLFile	__cxa_pure_virtual
212	__cxa_pure_virtual	EnvironmentBase::ReadKinBodyXMLData
216	EnvironmentBase::ReadInterfaceXMLFile	__cxa_pure_virtual
220	__cxa_pure_virtual	EnvironmentBase::ReadInterfaceXMLFile
224	EnvironmentBase::ReadInterfaceXMLData	__cxa_pure_virtual
228	__cxa_pure_virtual	EnvironmentBase::ReadInterfaceXMLFile
232	EnvironmentBase::ReadTrimeshFile	__cxa_pure_virtual
236	__cxa_pure_virtual	EnvironmentBase::ReadInterfaceXMLData
240	__cxa_pure_virtual	__cxa_pure_virtual
244	__cxa_pure_virtual	EnvironmentBase::ReadTrimeshFile
248	__cxa_pure_virtual	__cxa_pure_virtual
252	__cxa_pure_virtual	EnvironmentBase::AddKinBody
256	__cxa_pure_virtual	EnvironmentBase::AddRobot
260	__cxa_pure_virtual	EnvironmentBase::AddSensor
264	__cxa_pure_virtual	__cxa_pure_virtual
268	__cxa_pure_virtual	__cxa_pure_virtual
272	__cxa_pure_virtual	__cxa_pure_virtual
276	__cxa_pure_virtual	__cxa_pure_virtual
280	__cxa_pure_virtual	__cxa_pure_virtual
284	__cxa_pure_virtual	__cxa_pure_virtual
288	__cxa_pure_virtual	__cxa_pure_virtual
292	__cxa_pure_virtual	__cxa_pure_virtual
296	__cxa_pure_virtual	__cxa_pure_virtual
300	__cxa_pure_virtual	__cxa_pure_virtual
304	__cxa_pure_virtual	__cxa_pure_virtual
308	__cxa_pure_virtual	__cxa_pure_virtual
312	__cxa_pure_virtual	__cxa_pure_virtual
316	EnvironmentBase::LoadProblem	EnvironmentBase::LoadProblem
320	__cxa_pure_virtual	__cxa_pure_virtual
324	__cxa_pure_virtual	EnvironmentBase::GetLoadedProblems
328	EnvironmentBase::GetLoadedProblems	__cxa_pure_virtual
332	__cxa_pure_virtual	EnvironmentBase::AddViewer
336	__cxa_pure_virtual	EnvironmentBase::AttachViewer
340	EnvironmentBase::AttachViewer	__cxa_pure_virtual
344	__cxa_pure_virtual	__cxa_pure_virtual
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	__cxa_pure_virtual	__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	EnvironmentBase::GetHash
404	__cxa_pure_virtual
408	EnvironmentBase::GetHash

	Change	Effect
1	Pure virtual method IkSolverBase::SolveAll ( IkParameterization const&, int, std::vector<std::vector<double> >& ) 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 IkSolverBase::SolveAll ( IkParameterization const&, std::vector<double>const&, int, std::vector<std::vector<double> >& ) 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	Virtual method IkSolverBase::Solve ( IkParameterization const&, std::vector<double>const&, int, IkReturnPtr ) 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) - 29 entries	Virtual Table (New) - 38 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~IkSolverBase	~IkSolverBase
12	~IkSolverBase	~IkSolverBase
16	InterfaceBase::GetDescription	InterfaceBase::GetReadableInterface
20	InterfaceBase::SetDescription	InterfaceBase::SetReadableInterface
24	InterfaceBase::SetUserData	InterfaceBase::GetDescription
28	InterfaceBase::SetUserData	InterfaceBase::SetDescription
32	InterfaceBase::GetUserData	InterfaceBase::SetUserData
36	InterfaceBase::GetURI	InterfaceBase::SetUserData
40	InterfaceBase::GetXMLFilename	InterfaceBase::GetUserData
44	InterfaceBase::Clone	InterfaceBase::GetURI
48	InterfaceBase::SendCommand	InterfaceBase::GetXMLFilename
52	InterfaceBase::RegisterCommand	InterfaceBase::Clone
56	InterfaceBase::UnregisterCommand	InterfaceBase::SendCommand
60	IkSolverBase::GetHash	InterfaceBase::Serialize
64	InterfaceBase::_GetCommandHelp	InterfaceBase::RegisterCommand
68	__cxa_pure_virtual	InterfaceBase::UnregisterCommand
72	__cxa_pure_virtual	IkSolverBase::GetHash
76	IkSolverBase::RegisterCustomFilter	InterfaceBase::_GetCommandHelp
80	IkSolverBase::SetCustomFilter	__cxa_pure_virtual
84	__cxa_pure_virtual	__cxa_pure_virtual
88	__cxa_pure_virtual	IkSolverBase::RegisterCustomFilter
92	__cxa_pure_virtual	IkSolverBase::SetCustomFilter
96	__cxa_pure_virtual	__cxa_pure_virtual
100	__cxa_pure_virtual	__cxa_pure_virtual
104	__cxa_pure_virtual	__cxa_pure_virtual
108	IkSolverBase::Supports	IkSolverBase::Solve
112	IkSolverBase::_CallFilters	__cxa_pure_virtual
116		IkSolverBase::Solve
120		IkSolverBase::SolveAll
124		__cxa_pure_virtual
128		IkSolverBase::Solve
132		__cxa_pure_virtual
136		IkSolverBase::Solve
140		IkSolverBase::SolveAll
144		IkSolverBase::Supports
148		IkSolverBase::_CallFilters

	Change	Effect
1	Virtual method InterfaceBase::GetReadableInterface ( std::string const& ) 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 InterfaceBase::Serialize ( BaseXMLWriterPtr, int ) 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 InterfaceBase::SetReadableInterface ( std::string const&, XMLReadablePtr ) 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) - 17 entries	Virtual Table (New) - 20 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~InterfaceBase	~InterfaceBase
12	~InterfaceBase	~InterfaceBase
16	InterfaceBase::GetDescription	InterfaceBase::GetReadableInterface
20	InterfaceBase::SetDescription	InterfaceBase::SetReadableInterface
24	InterfaceBase::SetUserData	InterfaceBase::GetDescription
28	InterfaceBase::SetUserData	InterfaceBase::SetDescription
32	InterfaceBase::GetUserData	InterfaceBase::SetUserData
36	InterfaceBase::GetURI	InterfaceBase::SetUserData
40	InterfaceBase::GetXMLFilename	InterfaceBase::GetUserData
44	InterfaceBase::Clone	InterfaceBase::GetURI
48	InterfaceBase::SendCommand	InterfaceBase::GetXMLFilename
52	InterfaceBase::RegisterCommand	InterfaceBase::Clone
56	InterfaceBase::UnregisterCommand	InterfaceBase::SendCommand
60	__cxa_pure_virtual	InterfaceBase::Serialize
64	InterfaceBase::_GetCommandHelp	InterfaceBase::RegisterCommand
68		InterfaceBase::UnregisterCommand
72		__cxa_pure_virtual
76		InterfaceBase::_GetCommandHelp

	Change	Effect
1	Virtual method KinBody::ComputeHessianAxisAngle ( int, std::vector<double>&, std::vector<int>const& ) 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 KinBody::ComputeHessianTranslation ( int, Vector const&, std::vector<double>&, std::vector<int>const& ) 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::ComputeInverseDynamics ( boost::array<std::vector<double>,3u>&, std::vector<double>const&, KinBody::ForceTorqueMap const& ) 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::ComputeInverseDynamics ( std::vector<double>&, std::vector<double>const&, KinBody::ForceTorqueMap const& ) 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::ComputeJacobianAxisAngle ( int, std::vector<double>&, std::vector<int>const& ) 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::ComputeJacobianTranslation ( int, Vector const&, std::vector<double>&, std::vector<int>const& ) 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::GetDOFResolutions ( std::vector<double>&, std::vector<int>const& ) 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::GetDOFValues ( std::vector<double>&, std::vector<int>const& ) 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::GetDOFVelocities ( std::vector<double>&, std::vector<int>const& ) 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::GetDOFWeights ( std::vector<double>&, std::vector<int>const& ) 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::GetLinkAccelerations ( std::vector<double>const&, std::vector<std::pair<Vector,geometry::RaveVector<double> > >& ) 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::SetDOFLimits ( std::vector<double>const&, std::vector<double>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::SetDOFValues ( std::vector<double>const&, Transform const&, uint32_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.
14	Virtual method KinBody::SetDOFVelocities ( std::vector<double>const&, Vector const&, Vector const&, uint32_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.
15	Virtual method KinBody::SetDOFVelocities ( std::vector<double>const&, uint32_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.
16	Virtual method KinBody::SetDOFWeights ( std::vector<double>const&, std::vector<int>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.
17	Virtual method KinBody::SetNonCollidingConfiguration ( ) 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.
18	Virtual method KinBody::SubtractDOFValues ( std::vector<double>&, std::vector<double>const&, std::vector<int>const& ) 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.
19	Virtual method KinBody::_ComputeDOFLinkVelocities ( std::vector<double>&, std::vector<std::pair<Vector,geometry::RaveVector<double> > >&, bool ) 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.
20	Virtual method KinBody::_ComputeLinkAccelerations ( std::vector<double>const&, std::vector<double>const&, std::vector<std::pair<Vector,geometry::RaveVector<double> > >const&, std::vector<std::pair<Vector,geometry::RaveVector<double> > >&, Vector const& ) 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.
21	Virtual method KinBody::GetDOFAccelerationLimits ( std::vector<double>& ) 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.
22	Virtual method KinBody::GetDOFResolutions ( std::vector<double>& ) 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	Virtual method KinBody::GetDOFVelocityLimits ( std::vector<double>& ) 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.
24	Virtual method KinBody::GetDOFWeights ( std::vector<double>& ) 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.
25	Virtual method KinBody::GetRigidlyAttachedLinks ( int, std::vector<KinBody::LinkPtr>& ) 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.
26	Virtual method KinBody::GetVelocity ( Vector&, Vector& ) 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.
27	Virtual method KinBody::InitFromData ( std::string const&, AttributesList 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.
28	Virtual method KinBody::InitFromFile ( std::string const&, AttributesList 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.
29	Virtual method KinBody::SetDOFValues ( std::vector<double>const&, Transform const&, bool ) 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.
30	Virtual method KinBody::SetDOFValues ( std::vector<double>const&, bool ) 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.
31	Virtual method KinBody::SetDOFVelocities ( std::vector<double>const&, Vector const&, Vector const&, bool ) 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.
32	Virtual method KinBody::SetDOFVelocities ( std::vector<double>const&, bool ) 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.
33	Virtual method KinBody::SetDOFWeights ( std::vector<double>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.
34	Virtual method KinBody::SetJointTorques ( std::vector<double>const&, bool ) 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.
35	Virtual method KinBody::SetJointVelocities ( std::vector<double>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.
36	Virtual method KinBody::SubtractDOFValues ( std::vector<double>&, std::vector<double>const& ) 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.
37	Virtual method KinBody::SubtractJointValues ( std::vector<double>&, std::vector<double>const& ) 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.
38	Virtual method KinBody::_CreateFunctionParser ( ) 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.
39	The relative position of virtual method KinBody::CalculateAngularVelocityJacobian ( int, boost::multi_array<double,2u>& ) const has been changed from 50 to 51.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
40	The relative position of virtual method KinBody::CalculateJacobian ( int, Vector const&, boost::multi_array<double,2u>& ) const has been changed from 46 to 47.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
41	The relative position of virtual method KinBody::CalculateRotationJacobian ( int, Vector const&, boost::multi_array<double,2u>& ) const has been changed from 48 to 49.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
42	The relative position of virtual method KinBody::CalculateRotationJacobian ( int, Vector const&, std::vector<double>& ) const has been changed from 49 to 48.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
43	The relative position of virtual method KinBody::GetKinematicsGeometryHash ( ) const has been changed from 67 to 66.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
44	The relative position of virtual method KinBody::SetZeroConfiguration ( ) has been changed from 68 to 67.	The layout of v-table has been changed. Call of this virtual method may result in crash or incorrect behavior of applications.
45	The relative position of virtual method KinBody::serialize ( std::ostream&, int ) const has been changed from 66 to 69.	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) - 124 entries	Virtual Table (New) - 129 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~KinBody	~KinBody
12	~KinBody	~KinBody
16	InterfaceBase::GetDescription	InterfaceBase::GetReadableInterface
20	InterfaceBase::SetDescription	InterfaceBase::SetReadableInterface
24	InterfaceBase::SetUserData	InterfaceBase::GetDescription
28	InterfaceBase::SetUserData	InterfaceBase::SetDescription
32	InterfaceBase::GetUserData	InterfaceBase::SetUserData
36	InterfaceBase::GetURI	InterfaceBase::SetUserData
40	InterfaceBase::GetXMLFilename	InterfaceBase::GetUserData
44	KinBody::Clone	InterfaceBase::GetURI
48	InterfaceBase::SendCommand	InterfaceBase::GetXMLFilename
52	InterfaceBase::RegisterCommand	KinBody::Clone
56	InterfaceBase::UnregisterCommand	InterfaceBase::SendCommand
60	KinBody::GetHash	KinBody::Serialize
64	InterfaceBase::_GetCommandHelp	InterfaceBase::RegisterCommand
68	KinBody::Destroy	InterfaceBase::UnregisterCommand
72	KinBody::InitFromFile	KinBody::GetHash
76	KinBody::InitFromData	InterfaceBase::_GetCommandHelp
80	KinBody::InitFromBoxes	KinBody::Destroy
84	KinBody::InitFromBoxes	KinBody::InitFromBoxes
88	KinBody::InitFromSpheres	KinBody::InitFromBoxes
92	KinBody::InitFromTrimesh	KinBody::InitFromSpheres
96	KinBody::GetName	KinBody::InitFromTrimesh
100	KinBody::SetName	KinBody::GetName
104	KinBody::GetDOF	KinBody::SetName
108	KinBody::GetDOFValues	KinBody::GetDOF
112	KinBody::GetDOFVelocities	KinBody::GetDOFValues
116	KinBody::GetDOFLimits	KinBody::GetDOFVelocities
120	KinBody::GetDOFVelocityLimits	KinBody::GetDOFLimits
124	KinBody::GetDOFVelocityLimits	KinBody::GetDOFVelocityLimits
128	KinBody::GetDOFAccelerationLimits	KinBody::GetDOFVelocityLimits
132	KinBody::GetDOFTorqueLimits	KinBody::GetDOFAccelerationLimits
136	KinBody::GetDOFMaxVel	KinBody::GetDOFTorqueLimits
140	KinBody::GetDOFMaxAccel	KinBody::GetDOFMaxVel
144	KinBody::GetDOFMaxTorque	KinBody::GetDOFMaxAccel
148	KinBody::GetDOFResolutions	KinBody::GetDOFMaxTorque
152	KinBody::GetDOFWeights	KinBody::GetDOFResolutions
156	KinBody::SetDOFVelocityLimits	KinBody::GetDOFWeights
160	KinBody::SetDOFAccelerationLimits	KinBody::SetDOFVelocityLimits
164	KinBody::SetDOFTorqueLimits	KinBody::SetDOFAccelerationLimits
168	KinBody::SetDOFWeights	KinBody::SetDOFTorqueLimits
172	KinBody::GetRigidlyAttachedLinks	KinBody::SetDOFWeights
176	KinBody::GetDependencyOrderedJoints	KinBody::SetDOFLimits
180	KinBody::GetClosedLoops	KinBody::GetDependencyOrderedJoints
184	KinBody::GetChain	KinBody::GetClosedLoops
188	KinBody::GetChain	KinBody::GetChain
192	KinBody::IsDOFInChain	KinBody::GetChain
196	KinBody::GetJointIndex	KinBody::IsDOFInChain
200	KinBody::GetJoint	KinBody::GetJointIndex
204	KinBody::GetJointFromDOFIndex	KinBody::GetJoint
208	KinBody::SubtractDOFValues	KinBody::GetJointFromDOFIndex
212	KinBody::SubtractJointValues	KinBody::SubtractDOFValues
216	KinBody::SetDOFTorques	KinBody::SetDOFTorques
220	KinBody::SetJointTorques	KinBody::GetLinks
224	KinBody::GetLinks	KinBody::GetLink
228	KinBody::GetLink	KinBody::SimulationStep
232	KinBody::SimulationStep	KinBody::GetLinkTransformations
236	KinBody::GetLinkTransformations	KinBody::GetLinkTransformations
240	KinBody::GetLinkTransformations	KinBody::GetBodyTransformations
244	KinBody::GetBodyTransformations	KinBody::GetTransform
248	KinBody::GetTransform	KinBody::SetVelocity
252	KinBody::SetVelocity	KinBody::SetDOFVelocities
256	KinBody::SetDOFVelocities	KinBody::SetDOFVelocities
260	KinBody::SetDOFVelocities	KinBody::GetLinkVelocities
264	KinBody::GetLinkVelocities	KinBody::GetLinkAccelerations
268	KinBody::SetTransform	KinBody::SetTransform
272	KinBody::ComputeAABB	KinBody::ComputeAABB
276	KinBody::GetCenterOfMass	KinBody::GetCenterOfMass
280	KinBody::Enable	KinBody::Enable
284	KinBody::EnableLink	KinBody::IsEnabled
288	KinBody::IsEnabled	KinBody::SetVisible
292	KinBody::SetVisible	KinBody::IsVisible
296	KinBody::IsVisible	KinBody::SetDOFValues
300	KinBody::SetDOFValues	KinBody::SetJointValues
304	KinBody::SetJointValues	KinBody::SetDOFValues
308	KinBody::SetDOFValues	KinBody::SetJointValues
312	KinBody::SetJointValues	KinBody::SetLinkTransformations
316	KinBody::SetLinkTransformations	KinBody::SetLinkTransformations
320	KinBody::SetLinkTransformations	KinBody::SetBodyTransformations
324	KinBody::SetBodyTransformations	KinBody::SetLinkVelocities
328	KinBody::SetLinkVelocities	KinBody::ComputeJacobianTranslation
332	KinBody::CalculateJacobian	KinBody::CalculateJacobian
336	KinBody::CalculateJacobian	KinBody::CalculateJacobian
340	KinBody::CalculateRotationJacobian	KinBody::CalculateRotationJacobian
344	KinBody::CalculateRotationJacobian	KinBody::CalculateRotationJacobian
348	KinBody::CalculateAngularVelocityJacobian	KinBody::ComputeJacobianAxisAngle
352	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateAngularVelocityJacobian
356	KinBody::CheckSelfCollision	KinBody::CalculateAngularVelocityJacobian
360	KinBody::IsAttached	KinBody::ComputeHessianTranslation
364	KinBody::GetAttached	KinBody::ComputeHessianAxisAngle
368	KinBody::IsRobot	KinBody::ComputeInverseDynamics
372	KinBody::GetEnvironmentId	KinBody::ComputeInverseDynamics
376	KinBody::DoesAffect	KinBody::CheckSelfCollision
380	KinBody::GetViewerData	KinBody::IsAttached
384	KinBody::GetGuiData	KinBody::GetAttached
388	KinBody::GetNonAdjacentLinks	KinBody::IsRobot
392	KinBody::GetAdjacentLinks	KinBody::GetEnvironmentId
396	KinBody::GetPhysicsData	KinBody::DoesAffect
400	KinBody::GetCollisionData	KinBody::GetViewerData
404	KinBody::GetManageData	KinBody::GetGuiData
408	KinBody::GetUpdateStamp	KinBody::GetNonAdjacentLinks
412	KinBody::RegisterChangeCallback	KinBody::GetAdjacentLinks
416	KinBody::serialize	KinBody::GetPhysicsData
420	KinBody::GetKinematicsGeometryHash	KinBody::GetCollisionData
424	KinBody::SetJointVelocities	KinBody::GetManageData
428	KinBody::GetVelocity	KinBody::GetUpdateStamp
432	KinBody::SetZeroConfiguration	KinBody::RegisterChangeCallback
436	KinBody::GetConfigurationSpecification	KinBody::GetKinematicsGeometryHash
440	KinBody::GetConfigurationSpecificationIndices	KinBody::SetZeroConfiguration
444	KinBody::SetConfigurationValues	KinBody::SetNonCollidingConfiguration
448	KinBody::GetConfigurationValues	KinBody::GetConfigurationSpecification
452	KinBody::SetPhysicsData	KinBody::GetConfigurationSpecificationIndices
456	KinBody::SetCollisionData	KinBody::SetConfigurationValues
460	KinBody::SetViewerData	KinBody::GetConfigurationValues
464	KinBody::SetManageData	KinBody::serialize
468	KinBody::_ComputeInternalInformation	KinBody::SetPhysicsData
472	KinBody::_ParametersChanged	KinBody::SetCollisionData
476	KinBody::_IsAttached	KinBody::SetViewerData
480	KinBody::_AttachBody	KinBody::SetManageData
484	KinBody::_RemoveAttachedBody	KinBody::_ComputeInternalInformation
488	KinBody::_ResetInternalCollisionCache	KinBody::_ComputeDOFLinkVelocities
492	KinBody::_CreateFunctionParser	KinBody::_ComputeLinkAccelerations
496		KinBody::_ParametersChanged
500		KinBody::_IsAttached
504		KinBody::_AttachBody
508		KinBody::_RemoveAttachedBody
512		KinBody::_ResetInternalCollisionCache

	Change	Effect
1	Size of this class has been increased from 812 bytes to 868 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 64 bytes to 88 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::_RestoreKinBody ( boost::shared_ptr<KinBody> ) 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) - 6 entries	Virtual Table (New) - 7 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	KinBody::KinBodyStateSaver::Restore
20	KinBody::KinBodyStateSaver::_RestoreKinBody	KinBody::KinBodyStateSaver::Release
24		KinBody::KinBodyStateSaver::_RestoreKinBody

	Change	Effect
1	Field _listGeomProperties 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 256 bytes to 260 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 changed from 68 bytes to 92 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.

	Change	Effect
1	Base class UserData has been added.	The layout of v-table in this class has been changed.
2	Virtual method XMLReadable::Serialize ( BaseXMLWriterPtr&restrict, int ) 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.

Offset	Virtual Table (Old) - 5 entries	Virtual Table (New) - 6 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~XMLReadable	~XMLReadable
12	~XMLReadable	~XMLReadable
16	XMLReadable::GetXMLId	XMLReadable::GetXMLId
20		XMLReadable::Serialize

	Change	Effect
1	Size of this class has been increased from 32 bytes to 80 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 LineCollisionConstraint::Check ( PlannerBase::PlannerParametersWeakPtr, KinBodyPtr, std::vector<double>const&, std::vector<double>const&, IntervalType, PlannerBase::ConfigurationListPtr ) 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 LineCollisionConstraint::Check ( PlannerBase::PlannerParametersWeakPtr, std::vector<double>const&, std::vector<double>const&, IntervalType, PlannerBase::ConfigurationListPtr ) 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 LineCollisionConstraint::_CheckState ( ) 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 LineCollisionConstraint::~LineCollisionConstraint ( ) 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	Field _nActiveManip 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 1204 bytes to 1208 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	The relative position of virtual method RobotBase::CalculateActiveAngularVelocityJacobian ( int, boost::multi_array<double,2u>& ) const has been changed from 63 to 64.	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 RobotBase::CalculateActiveAngularVelocityJacobian ( int, std::vector<double>& ) const has been changed from 64 to 63.	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 RobotBase::CalculateActiveJacobian ( int, Vector const&, boost::multi_array<double,2u>& ) const has been changed from 59 to 60.	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 RobotBase::CalculateActiveJacobian ( int, Vector const&, std::vector<double>& ) const has been changed from 60 to 59.	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::CalculateActiveRotationJacobian ( int, Vector const&, boost::multi_array<double,2u>& ) const has been changed from 61 to 62.	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::CalculateActiveRotationJacobian ( int, Vector const&, std::vector<double>& ) const has been changed from 62 to 61.	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) - 209 entries	Virtual Table (New) - 217 entries
0	(int (*)(...))0	(int (*)(...))0
4	(int (*)(...))(& typeinfo)	(int (*)(...))(& typeinfo)
8	~RobotBase	~RobotBase
12	~RobotBase	~RobotBase
16	InterfaceBase::GetDescription	InterfaceBase::GetReadableInterface
20	InterfaceBase::SetDescription	InterfaceBase::SetReadableInterface
24	InterfaceBase::SetUserData	InterfaceBase::GetDescription
28	InterfaceBase::SetUserData	InterfaceBase::SetDescription
32	InterfaceBase::GetUserData	InterfaceBase::SetUserData
36	InterfaceBase::GetURI	InterfaceBase::SetUserData
40	InterfaceBase::GetXMLFilename	InterfaceBase::GetUserData
44	RobotBase::Clone	InterfaceBase::GetURI
48	InterfaceBase::SendCommand	InterfaceBase::GetXMLFilename
52	InterfaceBase::RegisterCommand	RobotBase::Clone
56	InterfaceBase::UnregisterCommand	InterfaceBase::SendCommand
60	RobotBase::GetHash	KinBody::Serialize
64	InterfaceBase::_GetCommandHelp	InterfaceBase::RegisterCommand
68	RobotBase::Destroy	InterfaceBase::UnregisterCommand
72	RobotBase::InitFromFile	RobotBase::GetHash
76	RobotBase::InitFromData	InterfaceBase::_GetCommandHelp
80	KinBody::InitFromBoxes	RobotBase::Destroy
84	KinBody::InitFromBoxes	KinBody::InitFromBoxes
88	KinBody::InitFromSpheres	KinBody::InitFromBoxes
92	KinBody::InitFromTrimesh	KinBody::InitFromSpheres
96	KinBody::GetName	KinBody::InitFromTrimesh
100	KinBody::SetName	KinBody::GetName
104	KinBody::GetDOF	KinBody::SetName
108	KinBody::GetDOFValues	KinBody::GetDOF
112	KinBody::GetDOFVelocities	KinBody::GetDOFValues
116	KinBody::GetDOFLimits	KinBody::GetDOFVelocities
120	KinBody::GetDOFVelocityLimits	KinBody::GetDOFLimits
124	KinBody::GetDOFVelocityLimits	KinBody::GetDOFVelocityLimits
128	KinBody::GetDOFAccelerationLimits	KinBody::GetDOFVelocityLimits
132	KinBody::GetDOFTorqueLimits	KinBody::GetDOFAccelerationLimits
136	KinBody::GetDOFMaxVel	KinBody::GetDOFTorqueLimits
140	KinBody::GetDOFMaxAccel	KinBody::GetDOFMaxVel
144	KinBody::GetDOFMaxTorque	KinBody::GetDOFMaxAccel
148	KinBody::GetDOFResolutions	KinBody::GetDOFMaxTorque
152	KinBody::GetDOFWeights	KinBody::GetDOFResolutions
156	KinBody::SetDOFVelocityLimits	KinBody::GetDOFWeights
160	KinBody::SetDOFAccelerationLimits	KinBody::SetDOFVelocityLimits
164	KinBody::SetDOFTorqueLimits	KinBody::SetDOFAccelerationLimits
168	KinBody::SetDOFWeights	KinBody::SetDOFTorqueLimits
172	KinBody::GetRigidlyAttachedLinks	KinBody::SetDOFWeights
176	KinBody::GetDependencyOrderedJoints	KinBody::SetDOFLimits
180	KinBody::GetClosedLoops	KinBody::GetDependencyOrderedJoints
184	KinBody::GetChain	KinBody::GetClosedLoops
188	KinBody::GetChain	KinBody::GetChain
192	KinBody::IsDOFInChain	KinBody::GetChain
196	KinBody::GetJointIndex	KinBody::IsDOFInChain
200	KinBody::GetJoint	KinBody::GetJointIndex
204	KinBody::GetJointFromDOFIndex	KinBody::GetJoint
208	KinBody::SubtractDOFValues	KinBody::GetJointFromDOFIndex
212	KinBody::SubtractJointValues	KinBody::SubtractDOFValues
216	KinBody::SetDOFTorques	KinBody::SetDOFTorques
220	KinBody::SetJointTorques	KinBody::GetLinks
224	KinBody::GetLinks	KinBody::GetLink
228	KinBody::GetLink	RobotBase::SimulationStep
232	RobotBase::SimulationStep	KinBody::GetLinkTransformations
236	KinBody::GetLinkTransformations	KinBody::GetLinkTransformations
240	KinBody::GetLinkTransformations	KinBody::GetBodyTransformations
244	KinBody::GetBodyTransformations	KinBody::GetTransform
248	KinBody::GetTransform	RobotBase::SetVelocity
252	KinBody::SetVelocity	RobotBase::SetDOFVelocities
256	KinBody::SetDOFVelocities	RobotBase::SetDOFVelocities
260	KinBody::SetDOFVelocities	KinBody::GetLinkVelocities
264	KinBody::GetLinkVelocities	KinBody::GetLinkAccelerations
268	RobotBase::SetTransform	RobotBase::SetTransform
272	KinBody::ComputeAABB	KinBody::ComputeAABB
276	KinBody::GetCenterOfMass	KinBody::GetCenterOfMass
280	KinBody::Enable	KinBody::Enable
284	KinBody::EnableLink	KinBody::IsEnabled
288	KinBody::IsEnabled	KinBody::SetVisible
292	KinBody::SetVisible	KinBody::IsVisible
296	KinBody::IsVisible	RobotBase::SetDOFValues
300	RobotBase::SetDOFValues	KinBody::SetJointValues
304	KinBody::SetJointValues	RobotBase::SetDOFValues
308	RobotBase::SetDOFValues	KinBody::SetJointValues
312	KinBody::SetJointValues	RobotBase::SetLinkTransformations
316	RobotBase::SetLinkTransformations	RobotBase::SetLinkTransformations
320	RobotBase::SetLinkTransformations	KinBody::SetBodyTransformations
324	KinBody::SetBodyTransformations	KinBody::SetLinkVelocities
328	KinBody::SetLinkVelocities	KinBody::ComputeJacobianTranslation
332	KinBody::CalculateJacobian	KinBody::CalculateJacobian
336	KinBody::CalculateJacobian	KinBody::CalculateJacobian
340	KinBody::CalculateRotationJacobian	KinBody::CalculateRotationJacobian
344	KinBody::CalculateRotationJacobian	KinBody::CalculateRotationJacobian
348	KinBody::CalculateAngularVelocityJacobian	KinBody::ComputeJacobianAxisAngle
352	KinBody::CalculateAngularVelocityJacobian	KinBody::CalculateAngularVelocityJacobian
356	RobotBase::CheckSelfCollision	KinBody::CalculateAngularVelocityJacobian
360	KinBody::IsAttached	KinBody::ComputeHessianTranslation
364	KinBody::GetAttached	KinBody::ComputeHessianAxisAngle
368	RobotBase::IsRobot	KinBody::ComputeInverseDynamics
372	KinBody::GetEnvironmentId	KinBody::ComputeInverseDynamics
376	KinBody::DoesAffect	RobotBase::CheckSelfCollision
380	KinBody::GetViewerData	KinBody::IsAttached
384	KinBody::GetGuiData	KinBody::GetAttached
388	RobotBase::GetNonAdjacentLinks	RobotBase::IsRobot
392	KinBody::GetAdjacentLinks	KinBody::GetEnvironmentId
396	KinBody::GetPhysicsData	KinBody::DoesAffect
400	KinBody::GetCollisionData	KinBody::GetViewerData
404	KinBody::GetManageData	KinBody::GetGuiData
408	KinBody::GetUpdateStamp	RobotBase::GetNonAdjacentLinks
412	KinBody::RegisterChangeCallback	KinBody::GetAdjacentLinks
416	RobotBase::serialize	KinBody::GetPhysicsData
420	KinBody::GetKinematicsGeometryHash	KinBody::GetCollisionData
424	KinBody::SetJointVelocities	KinBody::GetManageData
428	KinBody::GetVelocity	KinBody::GetUpdateStamp
432	KinBody::SetZeroConfiguration	KinBody::RegisterChangeCallback
436	KinBody::GetConfigurationSpecification	KinBody::GetKinematicsGeometryHash
440	KinBody::GetConfigurationSpecificationIndices	KinBody::SetZeroConfiguration
444	KinBody::SetConfigurationValues	KinBody::SetNonCollidingConfiguration
448	KinBody::GetConfigurationValues	KinBody::GetConfigurationSpecification
452	KinBody::SetPhysicsData	KinBody::GetConfigurationSpecificationIndices
456	KinBody::SetCollisionData	KinBody::SetConfigurationValues
460	KinBody::SetViewerData	KinBody::GetConfigurationValues
464	KinBody::SetManageData	RobotBase::serialize
468	RobotBase::_ComputeInternalInformation	KinBody::SetPhysicsData
472	RobotBase::_ParametersChanged	KinBody::SetCollisionData
476	KinBody::_IsAttached	KinBody::SetViewerData
480	KinBody::_AttachBody	KinBody::SetManageData
484	KinBody::_RemoveAttachedBody	RobotBase::_ComputeInternalInformation
488	KinBody::_ResetInternalCollisionCache	KinBody::_ComputeDOFLinkVelocities
492	KinBody::_CreateFunctionParser	KinBody::_ComputeLinkAccelerations
496	RobotBase::GetManipulators	RobotBase::_ParametersChanged
500	RobotBase::GetAttachedSensors	KinBody::_IsAttached
504	RobotBase::SetActiveDOFs	KinBody::_AttachBody
508	RobotBase::SetActiveDOFs	KinBody::_RemoveAttachedBody
512	RobotBase::GetActiveDOF	KinBody::_ResetInternalCollisionCache
516	RobotBase::GetAffineDOF	RobotBase::GetManipulators
520	RobotBase::GetAffineDOFIndex	RobotBase::GetAttachedSensors
524	RobotBase::GetActiveConfigurationSpecification	RobotBase::SetActiveDOFs
528	RobotBase::GetActiveDOFIndices	RobotBase::SetActiveDOFs
532	RobotBase::GetAffineRotationAxis	RobotBase::GetActiveDOF
536	RobotBase::SetAffineTranslationLimits	RobotBase::GetAffineDOF
540	RobotBase::SetAffineRotationAxisLimits	RobotBase::GetAffineDOFIndex
544	RobotBase::SetAffineRotation3DLimits	RobotBase::GetActiveConfigurationSpecification
548	RobotBase::SetAffineRotationQuatLimits	RobotBase::GetActiveDOFIndices
552	RobotBase::SetAffineTranslationMaxVels	RobotBase::GetAffineRotationAxis
556	RobotBase::SetAffineRotationAxisMaxVels	RobotBase::SetAffineTranslationLimits
560	RobotBase::SetAffineRotation3DMaxVels	RobotBase::SetAffineRotationAxisLimits
564	RobotBase::SetAffineRotationQuatMaxVels	RobotBase::SetAffineRotation3DLimits
568	RobotBase::SetAffineTranslationResolution	RobotBase::SetAffineRotationQuatLimits
572	RobotBase::SetAffineRotationAxisResolution	RobotBase::SetAffineTranslationMaxVels
576	RobotBase::SetAffineRotation3DResolution	RobotBase::SetAffineRotationAxisMaxVels
580	RobotBase::SetAffineRotationQuatResolution	RobotBase::SetAffineRotation3DMaxVels
584	RobotBase::SetAffineTranslationWeights	RobotBase::SetAffineRotationQuatMaxVels
588	RobotBase::SetAffineRotationAxisWeights	RobotBase::SetAffineTranslationResolution
592	RobotBase::SetAffineRotation3DWeights	RobotBase::SetAffineRotationAxisResolution
596	RobotBase::SetAffineRotationQuatWeights	RobotBase::SetAffineRotation3DResolution
600	RobotBase::GetAffineTranslationLimits	RobotBase::SetAffineRotationQuatResolution
604	RobotBase::GetAffineRotationAxisLimits	RobotBase::SetAffineTranslationWeights
608	RobotBase::GetAffineRotation3DLimits	RobotBase::SetAffineRotationAxisWeights
612	RobotBase::GetAffineRotationQuatLimits	RobotBase::SetAffineRotation3DWeights
616	RobotBase::GetAffineTranslationMaxVels	RobotBase::SetAffineRotationQuatWeights
620	RobotBase::GetAffineRotationAxisMaxVels	RobotBase::GetAffineTranslationLimits
624	RobotBase::GetAffineRotation3DMaxVels	RobotBase::GetAffineRotationAxisLimits
628	RobotBase::GetAffineRotationQuatMaxVels	RobotBase::GetAffineRotation3DLimits
632	RobotBase::GetAffineTranslationResolution	RobotBase::GetAffineRotationQuatLimits
636	RobotBase::GetAffineRotationAxisResolution	RobotBase::GetAffineTranslationMaxVels
640	RobotBase::GetAffineRotation3DResolution	RobotBase::GetAffineRotationAxisMaxVels
644	RobotBase::GetAffineRotationQuatResolution	RobotBase::GetAffineRotation3DMaxVels
648	RobotBase::GetAffineTranslationWeights	RobotBase::GetAffineRotationQuatMaxVels
652	RobotBase::GetAffineRotationAxisWeights	RobotBase::GetAffineTranslationResolution
656	RobotBase::GetAffineRotation3DWeights	RobotBase::GetAffineRotationAxisResolution
660	RobotBase::GetAffineRotationQuatWeights	RobotBase::GetAffineRotation3DResolution
664	RobotBase::SetActiveDOFValues	RobotBase::GetAffineRotationQuatResolution
668	RobotBase::GetActiveDOFValues	RobotBase::GetAffineTranslationWeights
672	RobotBase::SetActiveDOFVelocities	RobotBase::GetAffineRotationAxisWeights
676	RobotBase::GetActiveDOFVelocities	RobotBase::GetAffineRotation3DWeights
680	RobotBase::GetActiveDOFLimits	RobotBase::GetAffineRotationQuatWeights
684	RobotBase::GetActiveDOFResolutions	RobotBase::SetActiveDOFValues
688	RobotBase::GetActiveDOFWeights	RobotBase::GetActiveDOFValues
692	RobotBase::GetActiveDOFVelocityLimits	RobotBase::SetActiveDOFVelocities
696	RobotBase::GetActiveDOFAccelerationLimits	RobotBase::GetActiveDOFVelocities
700	RobotBase::GetActiveDOFMaxVel	RobotBase::GetActiveDOFLimits
704	RobotBase::GetActiveDOFMaxAccel	RobotBase::GetActiveDOFResolutions
708	RobotBase::SubtractActiveDOFValues	RobotBase::GetActiveDOFWeights
712	RobotBase::SetActiveManipulator	RobotBase::GetActiveDOFVelocityLimits
716	RobotBase::SetActiveManipulator	RobotBase::GetActiveDOFAccelerationLimits
720	RobotBase::GetActiveManipulator	RobotBase::GetActiveDOFMaxVel
724	RobotBase::GetActiveManipulator	RobotBase::GetActiveDOFMaxAccel
728	RobotBase::GetActiveManipulatorIndex	RobotBase::SubtractActiveDOFValues
732	RobotBase::SetMotion	RobotBase::SetActiveManipulator
736	RobotBase::SetActiveMotion	RobotBase::SetActiveManipulator
740	RobotBase::SetActiveMotion	RobotBase::SetActiveManipulator
744	RobotBase::CalculateActiveJacobian	RobotBase::GetActiveManipulator
748	RobotBase::CalculateActiveJacobian	RobotBase::GetActiveManipulator
752	RobotBase::CalculateActiveRotationJacobian	RobotBase::AddManipulator
756	RobotBase::CalculateActiveRotationJacobian	RobotBase::RemoveManipulator
760	RobotBase::CalculateActiveAngularVelocityJacobian	RobotBase::GetActiveManipulatorIndex
764	RobotBase::CalculateActiveAngularVelocityJacobian	RobotBase::SetMotion
768	RobotBase::Grab	RobotBase::SetActiveMotion
772	RobotBase::Grab	RobotBase::SetActiveMotion
776	RobotBase::Grab	RobotBase::CalculateActiveJacobian
780	RobotBase::Grab	RobotBase::CalculateActiveJacobian
784	RobotBase::Release	RobotBase::CalculateActiveRotationJacobian
788	RobotBase::ReleaseAllGrabbed	RobotBase::CalculateActiveRotationJacobian
792	RobotBase::RegrabAll	RobotBase::CalculateActiveAngularVelocityJacobian
796	RobotBase::IsGrabbing	RobotBase::CalculateActiveAngularVelocityJacobian
800	RobotBase::GetGrabbed	RobotBase::Grab
804	RobotBase::CheckLinkCollision	RobotBase::Grab
808	RobotBase::GetRobotStructureHash	RobotBase::Grab
812	RobotBase::GetController	RobotBase::Grab
816	RobotBase::SetController	RobotBase::Release
820	RobotBase::SetController	RobotBase::ReleaseAllGrabbed
824	RobotBase::_UpdateGrabbedBodies	RobotBase::RegrabAll
828	RobotBase::_UpdateAttachedSensors	RobotBase::IsGrabbing
832	RobotBase::GetKinBodyHash	RobotBase::GetGrabbed
836		RobotBase::CheckLinkCollision
840		RobotBase::GetRobotStructureHash
844		RobotBase::GetController
848		RobotBase::SetController
852		RobotBase::_Regrab
856		RobotBase::_UpdateGrabbedBodies
860		RobotBase::_UpdateAttachedSensors
864		RobotBase::GetKinBodyHash

	Change	Effect
1	Field _name 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 _pEndEffector 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	Field _tLocalTool 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.
4	Field _vClosingDirection 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.
5	Field _vdirection 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.

	Change	Effect
1	Field nActiveManip 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 136 bytes to 164 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.

collisionchecker.h
namespace OpenRAVE
[+] class CollisionCheckerBase (2)

controller.h
namespace OpenRAVE
[+] class ControllerBase (1)

environment.h
namespace OpenRAVE
[+] class EnvironmentBase (13)

iksolver.h
namespace OpenRAVE
[+] class IkSolverBase (3)

interface.h
namespace OpenRAVE
[+] class InterfaceBase (3)

kinbody.h
namespace OpenRAVE
[+] class KinBody (45)
[+] class KinBody::Joint (1)
[+] class KinBody::KinBodyStateSaver (2)
[+] class KinBody::Link (2)

openrave.h
namespace OpenRAVE
[+] class IkParameterization (1)
[+] class XMLReadable (2)

planningutils.h
namespace planningutils
[+] class LineCollisionConstraint (5)

robot.h
namespace OpenRAVE
[+] class RobotBase (8)
[+] class RobotBase::Manipulator (5)
[+] class RobotBase::RobotStateSaver (2)

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Problems with Symbols, High Severity (42)

	Change	Effect
1	Parameters list has been changed.	The name of the appropriate symbol for this function on binary level has been changed from _ZN8OpenRAVE12IkSolverBase12_CallFiltersERSt6vectorIdSaIdEEN5boost10shared_ptrINS_9RobotBase11ManipulatorEEERKNS_18IkParameterizationE to _ZN8OpenRAVE12IkSolverBase12_CallFiltersERSt6vectorIdSaIdEEN5boost10shared_ptrINS_9RobotBase11ManipulatorEEERKNS_18IkParameterizationENS6_INS_8IkReturnEEE. 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 _ZNK8OpenRAVE7KinBody29GetConfigurationSpecificationEv to _ZNK8OpenRAVE7KinBody29GetConfigurationSpecificationERKSs. 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 _ZNK8OpenRAVE7KinBody36GetConfigurationSpecificationIndicesERKSt6vectorIiSaIiEE to _ZNK8OpenRAVE7KinBody36GetConfigurationSpecificationIndicesERKSt6vectorIiSaIiEERKSs. 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 _ZNK8OpenRAVE7KinBody24GetDOFAccelerationLimitsERSt6vectorIdSaIdEE to _ZNK8OpenRAVE7KinBody24GetDOFAccelerationLimitsERSt6vectorIdSaIdEERKS1_IiSaIiEE. 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 _ZNK8OpenRAVE7KinBody12GetDOFLimitsERSt6vectorIdSaIdEES4_ to _ZNK8OpenRAVE7KinBody12GetDOFLimitsERSt6vectorIdSaIdEES4_RKS1_IiSaIiEE. 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 _ZNK8OpenRAVE7KinBody17GetDOFResolutionsERSt6vectorIdSaIdEE to _ZNK8OpenRAVE7KinBody17GetDOFResolutionsERSt6vectorIdSaIdEERKS1_IiSaIiEE. 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 _ZNK8OpenRAVE7KinBody12GetDOFValuesERSt6vectorIdSaIdEE to _ZNK8OpenRAVE7KinBody12GetDOFValuesERSt6vectorIdSaIdEERKS1_IiSaIiEE. 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 _ZNK8OpenRAVE7KinBody16GetDOFVelocitiesERSt6vectorIdSaIdEE to _ZNK8OpenRAVE7KinBody16GetDOFVelocitiesERSt6vectorIdSaIdEERKS1_IiSaIiEE. 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 _ZNK8OpenRAVE7KinBody20GetDOFVelocityLimitsERSt6vectorIdSaIdEE to _ZNK8OpenRAVE7KinBody20GetDOFVelocityLimitsERSt6vectorIdSaIdEES4_RKS1_IiSaIiEE. 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 _ZNK8OpenRAVE7KinBody20GetDOFVelocityLimitsERSt6vectorIdSaIdEES4_ to _ZNK8OpenRAVE7KinBody20GetDOFVelocityLimitsERSt6vectorIdSaIdEES4_RKS1_IiSaIiEE. 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 _ZNK8OpenRAVE7KinBody13GetDOFWeightsERSt6vectorIdSaIdEE to _ZNK8OpenRAVE7KinBody13GetDOFWeightsERSt6vectorIdSaIdEERKS1_IiSaIiEE. 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 _ZN8OpenRAVE7KinBody18InitFromGeometriesERSt4listINS0_4Link14GEOMPROPERTIESESaIS3_EEb to _ZN8OpenRAVE7KinBody18InitFromGeometriesERKSt4listINS0_4Link12GeometryInfoESaIS3_EE. 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 _ZN8OpenRAVE7KinBody5JointC2EN5boost10shared_ptrIS0_EE to _ZN8OpenRAVE7KinBody5JointC2EN5boost10shared_ptrIS0_EENS1_9JointTypeE. 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 _ZN8OpenRAVE7KinBody5JointC1EN5boost10shared_ptrIS0_EE to _ZN8OpenRAVE7KinBody5JointC1EN5boost10shared_ptrIS0_EENS1_9JointTypeE. 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 _ZN8OpenRAVE7KinBody5Joint13SetResolutionEd to _ZN8OpenRAVE7KinBody5Joint13SetResolutionEdi. 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 _ZN8OpenRAVE7KinBody17KinBodyStateSaver7RestoreEv to _ZN8OpenRAVE7KinBody17KinBodyStateSaver7RestoreEN5boost10shared_ptrIS0_EE. 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 _ZN8OpenRAVE7KinBody4Link14SwapGeometriesERSt4listINS1_14GEOMPROPERTIESESaIS3_EE to _ZN8OpenRAVE7KinBody4Link14SwapGeometriesERN5boost10shared_ptrIS1_EE. 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 _ZN8OpenRAVE7KinBody22SetConfigurationValuesEN9__gnu_cxx17__normal_iteratorIPKdSt6vectorIdSaIdEEEEb to _ZN8OpenRAVE7KinBody22SetConfigurationValuesEN9__gnu_cxx17__normal_iteratorIPKdSt6vectorIdSaIdEEEEj. 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 _ZN8OpenRAVE7KinBody12SetDOFValuesERKSt6vectorIdSaIdEEb to _ZN8OpenRAVE7KinBody12SetDOFValuesERKSt6vectorIdSaIdEERKNS_8geometry13RaveTransformIdEEj. 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 _ZN8OpenRAVE7KinBody12SetDOFValuesERKSt6vectorIdSaIdEERKNS_8geometry13RaveTransformIdEEb to _ZN8OpenRAVE7KinBody12SetDOFValuesERKSt6vectorIdSaIdEERKNS_8geometry13RaveTransformIdEEj. 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 _ZN8OpenRAVE7KinBody16SetDOFVelocitiesERKSt6vectorIdSaIdEEb to _ZN8OpenRAVE7KinBody16SetDOFVelocitiesERKSt6vectorIdSaIdEERKNS_8geometry10RaveVectorIdEESA_j. 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 _ZN8OpenRAVE7KinBody16SetDOFVelocitiesERKSt6vectorIdSaIdEERKNS_8geometry10RaveVectorIdEESA_b to _ZN8OpenRAVE7KinBody16SetDOFVelocitiesERKSt6vectorIdSaIdEERKNS_8geometry10RaveVectorIdEESA_j. 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 _ZN8OpenRAVE7KinBody13SetDOFWeightsERKSt6vectorIdSaIdEE to _ZN8OpenRAVE7KinBody13SetDOFWeightsERKSt6vectorIdSaIdEERKS1_IiSaIiEE. This may cause "undefined reference" linker error in old client applications.

iksolver.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
[+] IkSolverBase::_CallFilters ( std::vector<double>& solution, RobotBase::ManipulatorPtr manipulator, IkParameterization const& param ) (1)

kinbody.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
[+] KinBody::GetConfigurationSpecification ( ) const (1)
[+] KinBody::GetConfigurationSpecificationIndices ( std::vector<int>const& indices ) const (1)
[+] KinBody::GetDOFAccelerationLimits ( std::vector<double>& maxaccelerations ) const (1)
[+] KinBody::GetDOFLimits ( std::vector<double>& lowerlimit, std::vector<double>& upperlimit ) const (1)
[+] KinBody::GetDOFResolutions ( std::vector<double>& v ) const (1)
[+] KinBody::GetDOFValues ( std::vector<double>& v ) const (1)
[+] KinBody::GetDOFVelocities ( std::vector<double>& v ) const (1)
[+] KinBody::GetDOFVelocityLimits ( std::vector<double>& maxvelocities ) const (1)
[+] KinBody::GetDOFVelocityLimits ( std::vector<double>& lowerlimit, std::vector<double>& upperlimit ) const (1)
[+] KinBody::GetDOFWeights ( std::vector<double>& v ) const (1)
[+] KinBody::InitFromGeometries ( std::list<KinBody::Link::GEOMPROPERTIES>& geometries, bool visible ) (1)
[+] KinBody::Joint::Joint [not-in-charge] ( KinBodyPtr parent ) (1)
[+] KinBody::Joint::Joint [in-charge] ( KinBodyPtr parent ) (1)
[+] KinBody::Joint::SetResolution ( dReal resolution ) (1)
[+] KinBody::KinBodyStateSaver::Restore ( ) (1)
[+] KinBody::Link::SwapGeometries ( std::list<KinBody::Link::GEOMPROPERTIES>& listNewGeometries ) (1)
[+] KinBody::SetConfigurationValues ( std::vector<double>::const_iterator itvalues, bool checklimits ) (1)
[+] KinBody::SetDOFValues ( std::vector<double>const& values, bool checklimits ) (1)
[+] KinBody::SetDOFValues ( std::vector<double>const& values, Transform const& transform, bool checklimits ) (1)
[+] KinBody::SetDOFVelocities ( std::vector<double>const& vDOFVelocities, bool checklimits ) (1)
[+] KinBody::SetDOFVelocities ( std::vector<double>const& vDOFVelocities, Vector const& linearvel, Vector const& angularvel, bool checklimits ) (1)
[+] KinBody::SetDOFWeights ( std::vector<double>const& weights ) (1)
[+] KinBody::SubtractDOFValues ( std::vector<double>& values1, std::vector<double>const& values2 ) const (1)

openrave.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
[+] ConfigurationSpecification::ExtractTransform ( Transform& t, std::vector<double>::const_iterator itdata, KinBodyConstPtr pbody ) const (1)
[+] ConfigurationSpecification::GetInterpolationDerivative ( std::string const& interpolation ) [static] (1)
[+] IkParameterization::GetConfigurationSpecification ( IkParameterizationType iktype ) [static] (1)
[+] RaveGetIkParameterizationMap ( ) (1)
[+] RaveGetTransformFromAffineDOFValues ( Transform& t, std::vector<double>::const_iterator itvalues, int affinedofs, Vector const& vActvAffineRotationAxis ) (1)

planningutils.h, libopenrave0.6.so.0.6.6
namespace planningutils
[+] InsertActiveDOFWaypointWithRetiming ( int index, std::vector<double>const& dofvalues, std::vector<double>const& dofvelocities, TrajectoryBasePtr traj, RobotBasePtr robot, dReal fmaxvelmult, std::string const& plannername ) (1)
[+] RetimeActiveDOFTrajectory ( TrajectoryBasePtr traj, RobotBasePtr robot, bool hastimestamps, dReal fmaxvelmult, std::string const& plannername, std::string const& plannerparameters ) (1)
[+] SmoothActiveDOFTrajectory ( TrajectoryBasePtr traj, RobotBasePtr robot, bool hastimestamps, dReal fmaxvelmult, std::string const& plannername, std::string const& plannerparameters ) (1)
[+] SmoothAffineTrajectory ( TrajectoryBasePtr traj, std::vector<double>const& maxvelocities, std::vector<double>const& maxaccelerations, bool hastimestamps, std::string const& plannername, std::string const& plannerparameters ) (1)

robot.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
[+] RobotBase::GetActiveConfigurationSpecification ( ) const (1)
[+] RobotBase::Manipulator::GetIkParameterization ( IkParameterization const& ikparam ) const (1)
[+] RobotBase::Manipulator::GetIkParameterization ( IkParameterizationType iktype ) const (1)
[+] RobotBase::RobotStateSaver::Restore ( ) (1)
[+] RobotBase::SetActiveDOFValues ( std::vector<double>const& values, bool checklimits ) (1)
[+] RobotBase::SetActiveDOFVelocities ( std::vector<double>const& velocities, bool checklimits ) (1)
[+] RobotBase::SetActiveManipulator ( std::string const& manipname ) (1)
[+] RobotBase::SetDOFValues ( std::vector<double>const& vJointValues, bool checklimits ) (1)
[+] RobotBase::SetDOFValues ( std::vector<double>const& vJointValues, Transform const& transbase, bool checklimits ) (1)

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Problems with Data Types, Medium Severity (41)

environment.h
namespace OpenRAVE
[+] class EnvironmentBase (5)

iksolver.h
namespace OpenRAVE
[+] class IkSolverBase (4)

kinbody.h
namespace OpenRAVE
[+] class KinBody (8)
[+] class KinBody::Joint (7)
[+] class KinBody::KinBodyStateSaver (4)
[+] class KinBody::Link (2)

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

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

robot.h
namespace OpenRAVE
[+] class RobotBase (4)
[+] class RobotBase::Manipulator (3)
[+] class RobotBase::RobotStateSaver (2)

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Problems with Symbols, Medium Severity (2)

kinbody.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
[+] KinBody::Link::GetGeometry ( int index ) (2)

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Problems with Data Types, Low Severity (14)

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

planningutils.h
namespace planningutils
[+] class LineCollisionConstraint (3)
[+] class ManipulatorIKGoalSampler (1)

robot.h
namespace OpenRAVE
[+] class RobotBase (2)
[+] class RobotBase::Manipulator (6)
[+] class RobotBase::RobotStateSaver (1)

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Problems with Symbols, Low Severity (15)

kinbody.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
[+] KinBody::CalculateAngularVelocityJacobian ( int linkindex, boost::multi_array<double, 2u>& vjacobian ) const (1)
[+] KinBody::CalculateJacobian ( int linkindex, Vector const& offset, boost::multi_array<double, 2u>& vjacobian ) const (2)
[+] KinBody::CalculateRotationJacobian ( int linkindex, Vector const& quat, boost::multi_array<double, 2u>& vjacobian ) const (1)
[+] KinBody::CalculateRotationJacobian ( int linkindex, Vector const& quat, std::vector<double>& pfJacobian ) const (1)

planningutils.h, libopenrave0.6.so.0.6.6
namespace planningutils
[+] LineCollisionConstraint::Check ( PlannerBase::PlannerParametersWeakPtr _params, KinBodyPtr robot, std::vector<double>const& pQ0, std::vector<double>const& pQ1, IntervalType interval, PlannerBase::ConfigurationListPtr pvCheckedConfigurations ) (1)

robot.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
[+] RobotBase::CalculateActiveAngularVelocityJacobian ( int index, boost::multi_array<double, 2u>& mjacobian ) const (1)
[+] RobotBase::CalculateActiveAngularVelocityJacobian ( int index, std::vector<double>& pfJacobian ) const (1)
[+] RobotBase::CalculateActiveJacobian ( int index, Vector const& offset, boost::multi_array<double, 2u>& mjacobian ) const (1)
[+] RobotBase::CalculateActiveJacobian ( int index, Vector const& offset, std::vector<double>& pfJacobian ) const (1)
[+] RobotBase::CalculateActiveRotationJacobian ( int index, Vector const& qInitialRot, boost::multi_array<double, 2u>& vjacobian ) const (1)
[+] RobotBase::CalculateActiveRotationJacobian ( int index, Vector const& qInitialRot, std::vector<double>& pfJacobian ) const (1)
[+] RobotBase::Manipulator::CalculateAngularVelocityJacobian ( boost::multi_array<double, 2u>& mjacobian ) const (1)
[+] RobotBase::Manipulator::CalculateJacobian ( boost::multi_array<double, 2u>& mjacobian ) const (1)
[+] RobotBase::Manipulator::CalculateRotationJacobian ( boost::multi_array<double, 2u>& mjacobian ) const (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 (34)

environment.h
namespace OpenRAVE
[+] class EnvironmentBase (5)

iksolver.h
namespace OpenRAVE
[+] class IkSolverBase (2)

kinbody.h
namespace OpenRAVE
[+] class KinBody::Joint (3)

openrave.h
namespace OpenRAVE
[+] enum IkParameterizationType (19)

robot.h
namespace OpenRAVE
[+] class RobotBase::Manipulator (4)
[+] class RobotBase::RobotStateSaver (1)

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Other Changes in Symbols (1)

controller.h, libopenrave0.6.so.0.6.6
namespace OpenRAVE
[+] MultiController::Reset ( int options ) (1)

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Header Files (27)

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
utils.h
viewer.h

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Shared Libraries (2)

libopenrave-core0.6.so.0.6.6
libopenrave0.6.so.0.6.6

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	Change	Effect
1	Pure virtual method EnvironmentBase::GetBodies ( std::vector<KinBodyPtr>&, uint64_t ) const has been added to this class instead of EnvironmentBase::GetRobots ( std::vector<RobotBasePtr>& ) const.	Applications will provide an older method to the library instead of expected newely added virtual method. This may result in crash or incorrect behavior of applications.
2	Pure virtual method EnvironmentBase::GetModules ( std::list<boost::shared_ptr<ModuleBase> >&, uint64_t ) const has been added to this class instead of EnvironmentBase::GetModules ( std::list<boost::shared_ptr<ModuleBase> >& ) const.	Applications will provide an older method to the library instead of expected newely added virtual method. This may result in crash or incorrect behavior of applications.
3	Pure virtual method EnvironmentBase::GetPublishedBodies ( std::vector<KinBody::BodyState>&, uint64_t ) has been added to this class instead of EnvironmentBase::UpdatePublishedBodies ( ).	Applications will provide an older method to the library instead of expected newely added virtual method. This may result in crash or incorrect behavior of applications.
4	Pure virtual method EnvironmentBase::GetRobots ( std::vector<RobotBasePtr>&, uint64_t ) const has been added to this class instead of EnvironmentBase::GetPublishedBodies ( std::vector<KinBody::BodyState>& ).	Applications will provide an older method to the library instead of expected newely added virtual method. This may result in crash or incorrect behavior of applications.
5	Pure virtual method EnvironmentBase::SetDebugLevel ( int ) has been added to this class instead of EnvironmentBase::GetHomeDirectory ( ) const.	Applications will provide an older method to the library instead of expected newely added virtual method. This may result in crash or incorrect behavior of applications.

	Change	Effect
1	Virtual method IkSolverBase::Solve ( IkParameterization const&, std::vector<double>const&, std::vector<double>const&, int, IkReturnPtr ) 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 IkSolverBase::SolveAll ( IkParameterization const&, std::vector<double>const&, int, std::vector<IkReturnPtr>& ) 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 IkSolverBase::_CallFilters ( std::vector<double>&, RobotBase::ManipulatorPtr, IkParameterization const&, IkReturnPtr ) 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.
4	Pure virtual method IkSolverBase::Init ( RobotBase::ManipulatorConstPtr ) has been added to this class instead of IkSolverBase::Init ( RobotBase::ManipulatorPtr ).	Applications will provide an older method to the library instead of expected newely added virtual method. This may result in crash or incorrect behavior of applications.

	Change	Effect
1	Virtual method KinBody::GetConfigurationSpecification ( std::string const& ) const has been added to this class instead of KinBody::GetConfigurationSpecification ( ) 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 KinBody::GetConfigurationSpecificationIndices ( std::vector<int>const&, std::string const& ) const has been added to this class instead of KinBody::GetConfigurationSpecificationIndices ( std::vector<int>const& ) const.	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 KinBody::GetDOFAccelerationLimits ( std::vector<double>&, std::vector<int>const& ) const has been added to this class instead of KinBody::GetDOFVelocityLimits ( std::vector<double>&, std::vector<double>& ) 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::GetDOFLimits ( std::vector<double>&, std::vector<double>&, std::vector<int>const& ) const has been added to this class instead of KinBody::GetDOFValues ( std::vector<double>& ) 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::GetDOFVelocityLimits ( std::vector<double>&, std::vector<double>&, std::vector<int>const& ) const has been added to this class instead of KinBody::GetDOFVelocities ( std::vector<double>& ) 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::GetDOFVelocityLimits ( std::vector<double>&, std::vector<int>const& ) const has been added to this class instead of KinBody::GetDOFLimits ( std::vector<double>&, std::vector<double>& ) const.	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 KinBody::SetConfigurationValues ( std::vector<double>::const_iterator, uint32_t ) has been added to this class instead of KinBody::SetConfigurationValues ( std::vector<double>::const_iterator, bool ).	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 KinBody::SetDOFValues ( std::vector<double>const&, uint32_t, std::vector<int>const& ) has been added to this class instead of KinBody::EnableLink ( KinBody::LinkPtr&restrict, bool ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.

	Change	Effect
1	Field _trajfollow 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 _vcircularlowerlimit 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 _vcircularupperlimit 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	Type of field _bIsCircular has been changed from boost::array<bool,3u> to boost::array<unsigned char,3u> of different format.	This field may be incorrectly initialized or accessed by applications.
5	Virtual method KinBody::Joint::GetResolutions ( std::vector<double>&, bool ) const has been added to this class instead of KinBody::Joint::SetResolution ( dReal ).	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::Joint::GetWeights ( std::vector<double>&, bool ) const has been added to this class instead of KinBody::Joint::SetOffset ( dReal, int ).	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 KinBody::Joint::SubtractValue ( dReal, dReal, int ) const has been added to this class instead of KinBody::Joint::GetInternalHierarchyAnchor ( ) 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) - 40 entries	Virtual Table (New) - 47 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::GetResolutions
20	KinBody::Joint::GetDOF	KinBody::Joint::SetResolution
24	KinBody::Joint::IsCircular	KinBody::Joint::GetDOF
28	KinBody::Joint::IsRevolute	KinBody::Joint::IsCircular
32	KinBody::Joint::IsPrismatic	KinBody::Joint::IsRevolute
36	KinBody::Joint::IsStatic	KinBody::Joint::IsPrismatic
40	KinBody::Joint::GetValues	KinBody::Joint::IsStatic
44	KinBody::Joint::GetValue	KinBody::Joint::GetValues
48	KinBody::Joint::GetVelocities	KinBody::Joint::GetValue
52	KinBody::Joint::AddTorque	KinBody::Joint::GetVelocities
56	KinBody::Joint::GetAnchor	KinBody::Joint::GetVelocity
60	KinBody::Joint::GetAxis	KinBody::Joint::AddTorque
64	KinBody::Joint::GetLimits	KinBody::Joint::GetAnchor
68	KinBody::Joint::SetLimits	KinBody::Joint::GetAxis
72	KinBody::Joint::SetJointLimits	KinBody::Joint::GetLimits
76	KinBody::Joint::GetVelocityLimits	KinBody::Joint::GetLimit
80	KinBody::Joint::GetVelocityLimits	KinBody::Joint::SetLimits
84	KinBody::Joint::SetVelocityLimits	KinBody::Joint::GetVelocityLimits
88	KinBody::Joint::GetAccelerationLimits	KinBody::Joint::GetVelocityLimits
92	KinBody::Joint::SetAccelerationLimits	KinBody::Joint::GetVelocityLimit
96	KinBody::Joint::GetTorqueLimits	KinBody::Joint::SetVelocityLimits
100	KinBody::Joint::SetTorqueLimits	KinBody::Joint::GetAccelerationLimits
104	KinBody::Joint::GetWeight	KinBody::Joint::GetAccelerationLimit
108	KinBody::Joint::SetWeights	KinBody::Joint::SetAccelerationLimits
112	KinBody::Joint::SubtractValues	KinBody::Joint::GetTorqueLimits
116	KinBody::Joint::SetWrapOffset	KinBody::Joint::SetTorqueLimits
120	KinBody::Joint::SetOffset	KinBody::Joint::GetWeights
124	KinBody::Joint::serialize	KinBody::Joint::GetWeight
128	KinBody::Joint::GetHierarchyParentLink	KinBody::Joint::SetWeights
132	KinBody::Joint::GetHierarchyChildLink	KinBody::Joint::SubtractValues
136	KinBody::Joint::GetInternalHierarchyAnchor	KinBody::Joint::SubtractValue
140	KinBody::Joint::GetInternalHierarchyAxis	KinBody::Joint::SetWrapOffset
144	KinBody::Joint::GetInternalHierarchyLeftTransform	KinBody::Joint::serialize
148	KinBody::Joint::GetInternalHierarchyRightTransform	KinBody::Joint::GetHierarchyParentLink
152	KinBody::Joint::_ComputePartialVelocities	KinBody::Joint::GetHierarchyChildLink
156	KinBody::Joint::_ComputeInternalInformation	KinBody::Joint::GetInternalHierarchyAxis
160		KinBody::Joint::GetInternalHierarchyLeftTransform
164		KinBody::Joint::GetInternalHierarchyRightTransform
168		KinBody::Joint::_ComputePartialVelocities
172		KinBody::Joint::_ComputeInternalInformation
176		KinBody::Joint::_Eval
180		KinBody::Joint::_GetVelocities
184		KinBody::Joint::_GetVelocity

	Change	Effect
1	Field _vMaxAccelerations 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 _vMaxVelocities 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::KinBodyStateSaver::Release ( ) has been added to this class instead of KinBody::KinBodyStateSaver::_RestoreKinBody ( ).	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::KinBodyStateSaver::Restore ( boost::shared_ptr<KinBody> ) has been added to this class instead of KinBody::KinBodyStateSaver::Restore ( ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.

	Change	Effect
1	Field _vGeometries 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	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.

	Change	Effect
1	Field _pManipActive 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	Virtual method RobotBase::GetActiveConfigurationSpecification ( std::string const& ) const has been added to this class instead of RobotBase::GetActiveConfigurationSpecification ( ) const.	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 RobotBase::SetActiveDOFValues ( std::vector<double>const&, uint32_t ) has been added to this class instead of RobotBase::SetActiveDOFValues ( std::vector<double>const&, bool ).	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 RobotBase::SetActiveDOFVelocities ( std::vector<double>const&, uint32_t ) has been added to this class instead of RobotBase::SetActiveDOFVelocities ( std::vector<double>const&, bool ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.

	Change	Effect
1	Field _strIkSolver has been removed from this type.	1) Applications will access incorrect memory when attempting to access this field. 2) Size of the inclusive type has been changed.
2	Field _vgripperjointnames has been removed from this type.	1) Applications will access incorrect memory when attempting to access this field. 2) Size of the inclusive type has been changed.
3	Virtual method RobotBase::Manipulator::FindIKSolutions ( IkParameterization const&, int, std::vector<IkReturnPtr>& ) const has been added to this class instead of RobotBase::Manipulator::GetIkParameterization ( IkParameterization const& ) const.	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.

	Change	Effect
1	Field _pManipActive 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	Virtual method RobotBase::RobotStateSaver::Restore ( boost::shared_ptr<RobotBase> ) has been added to this class instead of RobotBase::RobotStateSaver::_RestoreRobot ( ).	Applications will pass parameters of older replaced method to newly added virtual method. This may result in crash or incorrect behavior of applications.

	Change	Effect
1	Type of return value has been changed from KinBody::Link::GEOMPROPERTIES& to KinBody::Link::GeometryPtr of different format.	Applications will obtain a different return value and execution may change.
2	The pointer level of return value has been decreased from 1 to 0.	Applications may try to access unallocated memory by the dereferencing of new return value and therefore cause a crash.

	Change	Effect
1	Field _bCheckEnv has been added to this type.	1) This field will not be initialized by old clients. 2) 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.
2	Field _listCheckSelfCollisions has been added to this type.	1) This field will not be initialized by old clients. 2) 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.
3	Field _usercheckfns has been added to this type.	1) This field will not be initialized by old clients. 2) 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.

	Change	Effect
1	Type of field _vGrabbedBodies has been changed from std::vector<RobotBase::Grabbed> to std::vector<UserDataPtr>.	Replacement of the field data type may indicate a change in the semantic meaning of the field.
2	Virtual method KinBody::SetVelocity ( Vector const&, Vector const& ) has been overridden by RobotBase::SetVelocity ( Vector const&, Vector const& ).	Method RobotBase::SetVelocity ( Vector const&, Vector const& ) will be called instead of KinBody::SetVelocity ( Vector const&, Vector const& ) by old applications.

	Change	Effect
1	Field _info has been added to this type.	1) This field will not be initialized by old clients. 2) 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.
2	Field __armspec 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.
3	Field __pEffector 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.
4	Size of this type has been changed from 204 bytes to 232 bytes.	The fields or parameters of such data type may be incorrectly initialized or accessed by old client applications.
5	The relative position of private field __vgripperdofindices has been changed from 3 to 2.	Size of the inclusive type has been changed.
6	Field _pIkSolver became mutable.	The value of this field can begin to change in ways outside the control of old client applications.

	Change	Effect
1	2nd parameter offset has been renamed to position.	Renaming of a parameter may indicate a change in its semantic meaning.
2	3rd parameter vjacobian has been renamed to jacobian.	Renaming of a parameter may indicate a change in its semantic meaning.

	Change	Effect
1	Virtual method void EnvironmentBase::AddKinBody(boost::shared_ptr<KinBody>,bool) became non-pure.	No effect.
2	Virtual method void EnvironmentBase::AddRobot(boost::shared_ptr<RobotBase>,bool) became non-pure.	No effect.
3	Virtual method void EnvironmentBase::AddSensor(boost::shared_ptr<SensorBase>,bool) became non-pure.	No effect.
4	Virtual method void EnvironmentBase::AddViewer(boost::shared_ptr<ViewerBase>) became non-pure.	No effect.
5	Virtual method void EnvironmentBase::Save(std::basic_string<char>const&,EnvironmentBase::SelectionOptions,std::basic_string<char>const&) became non-pure.	No effect.

	Change	Effect
1	Virtual method bool IkSolverBase::Solve(IkParameterization const&,int,std::vector<std::vector<double>,std::allocator<std::vector<double> > >&) became non-pure.	No effect.
2	Virtual method bool IkSolverBase::Solve(IkParameterization const&,std::vector<double>const&,int,std::vector<std::vector<double>,std::allocator<std::vector<double> > >&) became non-pure.	No effect.

	Change	Effect
1	Virtual method KinBody::Joint::_Eval ( int, uint32_t, std::vector<double>const&, std::vector<double>& ) has been added to this class.	No effect. You can add virtual functions at end of leaf classes with exported constructors.
2	Virtual method KinBody::Joint::_GetVelocities ( std::vector<double>&, bool, std::pair<Vector,geometry::RaveVector<double> >const&, std::pair<Vector,geometry::RaveVector<double> >const& ) const has been added to this class.	No effect. You can add virtual functions at end of leaf classes with exported constructors.
3	Virtual method KinBody::Joint::_GetVelocity ( int, std::pair<Vector,geometry::RaveVector<double> >const&, std::pair<Vector,geometry::RaveVector<double> >const& ) const has been added to this class.	No effect. You can add virtual functions at end of leaf classes with exported constructors.

	Change	Effect
1	The member IKP_CustomDataBit with value 65536 has been added.	No effect.
2	The member IKP_Direction3DVelocity with value 587235332 has been added.	No effect.
3	The member IKP_Lookat3DVelocity with value 587235334 has been added.	No effect.
4	The member IKP_Ray4DVelocity with value 1174437893 has been added.	No effect.
5	The member IKP_Rotation3DVelocity with value 872448002 has been added.	No effect.
6	The member IKP_Transform6DVelocity with value 1728086017 has been added.	No effect.
7	The member IKP_Translation3DVelocity with value 855670787 has been added.	No effect.
8	The member IKP_TranslationDirection5DVelocity with value 1442873351 has been added.	No effect.
9	The member IKP_TranslationLocalGlobal6DVelocity with value 906002442 has been added.	No effect.
10	The member IKP_TranslationXAxisAngle4DVelocity with value 1140883467 has been added.	No effect.
11	The member IKP_TranslationXAxisAngleZNorm4DVelocity with value 1140883470 has been added.	No effect.
12	The member IKP_TranslationXY2DVelocity with value 570458120 has been added.	No effect.
13	The member IKP_TranslationXYOrientation3DVelocity with value 855670793 has been added.	No effect.
14	The member IKP_TranslationYAxisAngle4DVelocity with value 1140883468 has been added.	No effect.
15	The member IKP_TranslationYAxisAngleXNorm4DVelocity with value 1140883471 has been added.	No effect.
16	The member IKP_TranslationZAxisAngle4DVelocity with value 1140883469 has been added.	No effect.
17	The member IKP_TranslationZAxisAngleYNorm4DVelocity with value 1140883472 has been added.	No effect.
18	The member IKP_UniqueIdMask with value 65535 has been added.	No effect.
19	The member IKP_VelocityDataBit with value 32768 has been added.	No effect.

	Change	Effect
1	Virtual method RobotBase::Manipulator::CalculateAngularVelocityJacobian ( std::vector<double>& ) const has been added to this class.	No effect. You can add virtual functions at end of leaf classes with exported constructors.
2	Virtual method RobotBase::Manipulator::CalculateRotationJacobian ( std::vector<double>& ) const has been added to this class.	No effect. You can add virtual functions at end of leaf classes with exported constructors.
3	Virtual method RobotBase::Manipulator::GetArmConfigurationSpecification ( std::string const& ) const has been added to this class.	No effect. You can add virtual functions at end of leaf classes with exported constructors.
4	Virtual method RobotBase::Manipulator::_ComputeInternalInformation ( ) has been added to this class.	No effect. You can add virtual functions at end of leaf classes with exported constructors.