Release of v2.0.0-alpha

Version 2.0.0-alpha: 2019-Jul-14

Most important changes:

• MRPT now requires C++17 to build and use. See this page for a guide to port existing code to MRPT 2.0
• Support for old namespaces mrpt-scanmatching, mrpt-reactivenav is over.
• Backwards compatible headers for "maps" and "observations" in mrpt::slam are removed. They moved to their own namespaces in MRPT v1.3.0 (Jan 2015).
• All pointer typedefs are now in their respective classes: FooPtr -> Foo::Ptr
• Add support for serialization with std::variant

Detailed list of changes:

• Too many to list here. See a partial list here and checkout the updated API doxygen docs.

BUG FIXES:

• Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
• Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
• Fix aborting reading from LMS111 scanner on first error.
• Fix == operator on CPose3D: it now uses an epsilon for comparing the rotation matrices.
• Fix accessing unaligned POD variables deserializing CObservationGPS (via the new MRPT_READ_POD() macro).
• Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
• Fix crash in CGPSInterface when not setting an external mutex.