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MIGRATING.md

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Note on migration

New versions of iDynTree can change the interface and/or the behaviour of existing classes or functions, for several reasons.

iDynTree 0.3.X to 0.4.X

  1. The IVector, IRawVector, IMatrix and IRawMatrix interfaces have been removed for performance reasons, see robotology#98 (comment) . If you want to write generic code in C++ you can rely on templates, and on Matlab and Python you can rely on the native dynamic type system.

  2. All the core classes that have a fixed size (Position, Rotation, Transform, SpatialMotionVector, etc, etc) are not initialized by their empty constructor for performance reasons, see robotology#98 (comment) . From now on, make sure that initialize them before any use. Most of those classes should have a zero() method to zero its content, or a Zero() static method that return a instance with its content set to zero. For ensuring that no regression happened on the iDynTree codebase, a CMake advanced option IDYNTREE_RUN_VALGRIND_TESTS has been added to make that no use of initialized memory occurs.