Changelog for package mrpt_nav

3.3.0 (2026-09-26)

• Python bindings: datasets, maps, localization, sensors (+ fixes) (#1429)
• fix(mrpt_nav): certified PTG collision grid and faster obstacle queries (#1422)
• fix(system): locate mrpt_data in 3.x layouts; stop tests passing silently
• changelogs
• Contributors: Jose Luis Blanco-Claraco

3.2.0 (2026-09-16)

• fix: resolve the ROS warning cleanup issues and the real bugs they revealed in navigation code.
• refactor: modernize the PTG/reactive API with std::optional and cleaner configuration semantics.
• fix: correct TP-Space and clearance bugs, including unit mismatches, path-step logic, and obstacle-distance edge cases.
• feat: improve navigation regression coverage and add a headless TP-Space example.
• Contributors: Jose Luis Blanco-Claraco

3.1.4 (2026-09-04)

• Merge pull request #1388 from MRPT/test/coverage-nav-kinematics test(mrpt_nav, mrpt_kinematics): raise coverage to 90%/97% and fix 10 bugs found on the way

• test(mrpt_nav): make two timing-sensitive navigator tests platform-independent The MSVC CI job failed on not_approaching_the_target_times_out: the test set alarm_seems_not_approaching_target_timeout to 0 and relied on two consecutive Clock::now() calls differing, which the Windows clock resolution does not guarantee. Both this test and the waypoint-alignment one now drive a simulated clock instead of depending on how fast the loop happens to run.

• fix(mrpt_nav): drop all cached expression state when a formula fails to compile Addresses review feedback: clearing only the map that failed left score names already registered as variables behind, so a first score that compiles followed by one that does not made the next decide() throw "Expression name already exists as an input variable". Both failure paths now go through clear(), and a regression test covers the case. Also replaces the hard-coded /tmp PTG cache directory in the new planner test with a portable temporary path.

• test(mrpt_nav): simulator robot interfaces, manual-sequence navigator and 3D reactive nav Covers the last sizeable gaps in the module: the ready-made CRobot2NavInterfaceForSimulator_{Holo,DiffDriven} adapters, the pre-programmed velocity-sequence navigator (config parsing for both kinematic models, the malformed-input rejections and the failed-command emergency stop), a CReactiveNavigationSystem3D run from an in-memory config, and the PTG collision-grid cache-file save/reload path. Also applies clang-format-14 to the new test files. Two more bugs found and fixed:

  * CReactiveNavigationSystem3D::saveConfigFile() never called the CAbstractPTGBasedReactive implementation, unlike its 2D sibling and contrary to the documented contract, so saving a 3D navigator's configuration produced a stub with only HEIGHT_LEVELS and PTG_COUNT that could not be loaded back.

  * PlannerSimple2D::computePath()'s "are the endpoints inside the grid?" guard read [!(originInside || !targetInside)]{.title-ref}, which flags exactly the wrong case: it only reported notFound when the origin was outside and the target inside, and let an out-of-grid target (or both endpoints out of grid) fall through into the search, contrary to its own documented behavior.

• test(mrpt_nav): holonomic method configuration and reactive-navigation variants Round-trips the config files and serialization of CHolonomicVFF/ND/FullEval and their log records, and adds reactive-navigation runs driven by fully in-memory configurations (so they never silently skip when the shared config files are missing) covering the optional features of CAbstractPTGBasedReactive: the delays model, clearance evaluation, velocity filtering, disabled obstacle filtering, log-record keeping and file writing, PTG restriction, runtime holonomic-method switching, robot-shape changes and the obstacle-sensor failure path. The runs use a CPTG_Holo_Blend so the "NOP cmdvel" PTG-continuation branches are exercised too, which the differential-drive PTGs of the existing rnav tests cannot reach.

• test(mrpt_nav): cover the clearance diagram, planners, log records and motion optimizers Adds unit tests for the pieces of mrpt_nav that no existing test touched: ClearanceDiagram (index mapping, serialization, 3D rendering), the arc-vs-circular-robot collision helper, the default CRobot2NavInterface callbacks, NavigationLogger, VelocityFilter, the multi-objective motion optimizers, the RRT move-tree 3D renderer and a fully-populated CLogFileRecord round-trip. Bugs found and fixed along the way:

  * CMultiObjectiveMotionOptimizerBase::decide() returned -1 from a function returning std::optional<size_t> when a user formula

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