Merge pull request #1261 from MRPT/develop

Merge for release of v2.5.6

.github/workflows/build-macos.yml

@@ -31,7 +31,7 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@master
 
       - name: Git submodule
         run: |

.github/workflows/build-windows.yml

@@ -58,7 +58,7 @@ jobs:
       #    choco install --verbose graphviz
 
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@master
 
       - name: Git submodule
         run: |

CMakeLists.txt

@@ -24,9 +24,11 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
 	message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
 	set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
 		STRING "Choose the type of build." FORCE)
-	# Set the possible values of build type for cmake-gui
+endif()
+# Set the possible values of build type for cmake-gui
+if (DEFINED CACHE{CMAKE_BUILD_TYPE})
 	set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
-	"Debug" "Release" "MinSizeRel" "RelWithDebInfo" "Coverage")
+		"Debug" "Release" "MinSizeRel" "RelWithDebInfo" "Coverage" "SanitizeAddress" "SanitizeThread")
 endif()
 
 # -------------------------
@@ -422,6 +424,16 @@ if(CMAKE_COMPILER_IS_GNUCXX)
 	set(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
 	set(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage")
 	set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage")
+
+	# BUILD_TYPE: SanitizeAddress
+	set(CMAKE_CXX_FLAGS_SANITIZEADDRESS "-fsanitize=address  -fsanitize=leak -g")
+	set(CMAKE_EXE_LINKER_FLAGS_SANITIZEADDRESS "-fsanitize=address  -fsanitize=leak")
+	set(CMAKE_SHARED_LINKER_FLAGS_SANITIZEADDRESS "-fsanitize=address  -fsanitize=leak")
+
+	# BUILD_TYPE: SanitizeThread
+	set(CMAKE_CXX_FLAGS_SANITIZETHREAD "-fsanitize=thread -g")
+	set(CMAKE_EXE_LINKER_FLAGS_SANITIZETHREAD "-fsanitize=thread")
+	set(CMAKE_SHARED_LINKER_FLAGS_SANITIZETHREAD "-fsanitize=thread")
 endif()
 
 # CLang options ================================

README.md

@@ -21,12 +21,12 @@
 Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers
 in mobile robotics and computer vision. Libraries include [SLAM solutions](https://www.mrpt.org/List_of_SLAM_algorithms), [2D and 3D spatial transformations](https://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/), [SE(2)/SE(3) Lie groups](https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf),
 [probability density functions (pdfs)](https://docs.mrpt.org/reference/latest/class_mrpt_math_CProbabilityDensityFunction.html) over points, landmarks, poses and maps,
-Bayesian inference ([Kalman filters](https://www.mrpt.org/Kalman_Filters), [particle filters](https://www.mrpt.org/tutorials/programming/statistics-and-bayes-filtering/particle_filters/)), [image processing](https://www.mrpt.org/tutorials/programming/images-image-processing-camera-models/), [obstacle avoidance](https://www.mrpt.org/Obstacle_avoidance), [etc](https://reference.mrpt.org/devel/modules.html).
-MRPT also provides GUI apps for [Stereo camera calibration](https://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calib/), [dataset inspection](https://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/),
-and [much more](https://www.mrpt.org/list-of-mrpt-apps/).
+Bayesian inference ([Kalman filters](https://www.mrpt.org/Kalman_Filters), [particle filters](https://www.mrpt.org/tutorials/programming/statistics-and-bayes-filtering/particle_filters/)), [image processing](https://www.mrpt.org/tutorials/programming/images-image-processing-camera-models/), [obstacle avoidance](https://www.mrpt.org/Obstacle_avoidance), [etc](https://docs.mrpt.org/reference/latest/modules.html).
+MRPT also provides GUI apps for [camera calibration](https://docs.mrpt.org/reference/latest/app_camera-calib.html), [dataset inspection](https://docs.mrpt.org/reference/latest/app_RawLogViewer.html),
+and [much more](https://docs.mrpt.org/reference/latest/applications.html).
 
 ## 2. Resources
-  * Download the latest unstable code with: `git clone https://github.com/MRPT/mrpt.git --depth 1`
+  * Download the latest unstable code with: `git clone https://github.com/MRPT/mrpt.git --recursive`
   * Ask questions at: [this Google group](https://www.mrpt.org/forum/) or at [stackoverflow](https://stackoverflow.com/search?q=mrpt) (please, use the tag `mrpt`!)
   * [Main project website](https://www.mrpt.org/), including [sources and Windows installer downloads](https://www.mrpt.org/download-mrpt/)
   * [C++ API reference](https://docs.mrpt.org/reference/)
@@ -79,7 +79,6 @@ sudo apt install ros-$ROS_DISTRO-mrpt2
 | ROS1 Melodic @ u18.04 | [![Build Status](https://build.ros.org/job/Mdev__mrpt2__ubuntu_bionic_amd64/badge/icon)](https://build.ros.org/job/Mdev__mrpt2__ubuntu_bionic_amd64/) | [![Version](https://img.shields.io/ros/v/melodic/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros.org/job/Mbin_uB64__mrpt2__ubuntu_bionic_amd64__binary/badge/icon)](https://build.ros.org/job/Mbin_uB64__mrpt2__ubuntu_bionic_amd64__binary/) |
 | ROS1 Noetic @ u20.04 | [![Build Status](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd64/) | [![Version](https://img.shields.io/ros/v/noetic/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros.org/job/Nbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros.org/job/Nbin_uF64__mrpt2__ubuntu_focal_amd64__binary/) |
 | ROS2 Foxy @ u20.04 | [![Build Status](https://build.ros2.org/job/Fdev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros2.org/job/Fdev__mrpt2__ubuntu_focal_amd64/) | [![Version](https://img.shields.io/ros/v/foxy/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Fbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros2.org/job/Fbin_uF64__mrpt2__ubuntu_focal_amd64__binary/) |
-| ROS2 Galactic @ u20.04 | [![Build Status](https://build.ros2.org/job/Gdev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros2.org/job/Gdev__mrpt2__ubuntu_focal_amd64/) |  [![Version](https://img.shields.io/ros/v/galactic/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Gbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros2.org/job/Gbin_uF64__mrpt2__ubuntu_focal_amd64__binary/) |
 | ROS2 Humble @ u22.04 | [![Build Status](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd64/) | [![Version](https://img.shields.io/ros/v/humble/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) | 
 | ROS2 Rolling @ u22.04 | [![Build Status](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/) |  [![Version](https://img.shields.io/ros/v/rolling/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) | 
 

apps/DifOdometry-Camera/DifOdometry_Camera_main.cpp

@@ -191,9 +191,4 @@ int main(int num_arg, char* argv[])
 				  << std::endl;
 		return -1;
 	}
-	catch (...)
-	{
-		printf("Untyped exception!!");
-		return -1;
-	}
 }

apps/DifOdometry-Datasets/DifOdometry_Datasets_main.cpp

@@ -205,9 +205,4 @@ int main(int num_arg, char* argv[])
 				  << std::endl;
 		return -1;
 	}
-	catch (...)
-	{
-		printf("Untyped exception!!");
-		return -1;
-	}
 }

apps/ReactiveNav3D-Demo/ReactiveNav3D_demo_main.cpp

@@ -173,9 +173,4 @@ int main(int num_arg, char* argv[])
 				  << std::endl;
 		return -1;
 	}
-	catch (...)
-	{
-		printf("Untyped exception!!");
-		return -1;
-	}
 }

apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp

@@ -1043,8 +1043,6 @@ reactive_navigator_demoframe::reactive_navigator_demoframe(
 	gl_nd_gaps->setColor_u8(TColor(255, 0, 0));
 	openGLSceneRef->insert(gl_nd_gaps);
 
-	m_plotLocalView->setClearColors(0.9f, 0.9f, 0.9f);
-
 	// Set camera:
 	m_plotLocalView->setCameraPointing(0.0f, 0.0f, 0.0f);
 	m_plotLocalView->setZoomDistance(2.2f);

apps/SceneViewer3D/_DSceneViewerMain.cpp

@@ -1012,10 +1012,12 @@ void _DSceneViewerFrame::OnMenuBackColor(wxCommandEvent& event)
 {
 	wxColourData colourData;
 	wxColour color;
-	color.Set(
-		(int)(255 * m_canvas->getClearColorR()),
-		(int)(255 * m_canvas->getClearColorG()),
-		(int)(255 * m_canvas->getClearColorB()));
+
+	auto bkCol = m_canvas->getOpenGLSceneRef()
+					 ->getViewport()
+					 ->getCustomBackgroundColor();
+
+	color.Set((int)(255 * bkCol.R), (int)(255 * bkCol.G), (int)(255 * bkCol.B));
 
 	colourData.SetColour(color);
 	colourData.SetChooseFull(true);
@@ -1025,8 +1027,9 @@ void _DSceneViewerFrame::OnMenuBackColor(wxCommandEvent& event)
 	if (wxID_OK == colDial.ShowModal())
 	{
 		wxColour col = colDial.GetColourData().GetColour();
-		m_canvas->setClearColors(
-			col.Red() / 255.0f, col.Green() / 255.0f, col.Blue() / 255.0f);
+
+		m_canvas->getOpenGLSceneRef()->getViewport()->setCustomBackgroundColor(
+			{col.Red() / 255.0f, col.Green() / 255.0f, col.Blue() / 255.0f});
 
 		int w, h;
 		m_canvas->GetSize(&w, &h);
@@ -1874,14 +1877,13 @@ void _DSceneViewerFrame::OnMenuItemHighResRender(wxCommandEvent& event)
 			std::string sH = std::string(ssH.mb_str());
 			const long height = atoi(sH.c_str());
 
-			CFBORender render(width, height, true /* skip Glut extra window */);
-			CImage frame(width, height, CH_RGB);
+			CFBORender::Parameters params;
+			params.width = width;
+			params.height = height;
+			params.create_EGL_context = false;	// dont, will reuse existing one
 
-			m_canvas->getOpenGLSceneRef()
-				->getViewport()
-				->setCustomBackgroundColor(
-					{m_canvas->getClearColorR(), m_canvas->getClearColorG(),
-					 m_canvas->getClearColorB(), 1.0});
+			CFBORender render(params);
+			CImage frame(width, height, CH_RGB);
 
 			// render the scene
 			render.render_RGB(*m_canvas->getOpenGLSceneRef(), frame);

apps/holonomic-navigator-demo/holonomic_navigator_demoMain.cpp

@@ -523,8 +523,6 @@ holonomic_navigator_demoFrame::holonomic_navigator_demoFrame(
 	gl_nd_gaps->setColor_u8(TColor(204, 102, 51));
 	openGLScanRef->insert(gl_nd_gaps);
 
-	m_plotScan->setClearColors(0.9f, 0.9f, 0.9f);
-
 	// Set camera:
 	m_plotScan->setCameraPointing(0.0f, 0.0f, 0.0f);
 	m_plotScan->setZoomDistance(2.2f);

apps/robot-map-gui/gui/glWidget/CGLWidget.cpp

@@ -56,7 +56,7 @@ CGlWidget::CGlWidget(bool is2D, QWidget* parent)
 	  m_pressedPos(0, 0),
 	  m_lastPos(0, 0)
 {
-	setClearColors(1.0, 1.0, 1.0);
+	// setClearColors(1.0, 1.0, 1.0);
 	setMinimumZoom(1.0f);
 	setMaximumZoom(3200.0f);
 
@@ -264,7 +264,7 @@ void CGlWidget::setElevationDegrees(float ang)
 
 void CGlWidget::setBackgroundColor(float r, float g, float b, float a)
 {
-	setClearColors(r, g, b, a);
+	// setClearColors(r, g, b, a);
 
 	update();
 }

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.5.5-{branch}-build{build}
+version: 2.5.6-{branch}-build{build}
 
 os: Visual Studio 2019
 

cmakemodules/script_detect_functions_headers.cmake

@@ -5,6 +5,7 @@ include(CheckFunctionExists)
 include(CheckIncludeFile)
 include(CheckIncludeFiles)
 include(CheckTypeSize)
+include(CheckSymbolExists)
 
 
 set(CMAKE_REQUIRED_INCLUDES "math.h")
@@ -29,6 +30,8 @@ CHECK_INCLUDE_FILE("sys/time.h" HAVE_SYS_TIME_H)
 CHECK_INCLUDE_FILE("pthread.h" HAVE_PTHREAD_H)
 CHECK_INCLUDE_FILE("unistd.h" HAVE_UNISTD_H)
 
+check_symbol_exists(localtime_r "time.h" HAVE_LOCALTIME_R)
+
 if(HAVE_ALLOCA_FUNC OR HAVE_ALLOCA_H)
 	set(HAVE_ALLOCA 1)
 endif()

cmakemodules/script_gl_glut.cmake

@@ -77,6 +77,11 @@ if(OpenGL_FOUND)
 	list(APPEND MRPT_OPENGL_LIBS imp_opengl)
 endif()
 
+# Fix for latest libglut-dev packages on debian/unstable (Dec 2022)
+if (NOT GLUT_glut_LIBRARY AND GLUT_LIBRARIES)
+	set(GLUT_glut_LIBRARY ${GLUT_LIBRARIES})
+endif()
+
 if(UNIX AND GLUT_FOUND AND OpenGL_FOUND AND OPENGL_glu_LIBRARY AND GLUT_glut_LIBRARY)
 	set(CMAKE_MRPT_HAS_OPENGL_GLUT 1)
 	set(CMAKE_MRPT_HAS_OPENGL_GLUT_SYSTEM 1)

cmakemodules/script_show_final_summary.cmake

@@ -79,7 +79,10 @@ if(NOT CMAKE_GENERATOR MATCHES "Xcode|Visual Studio")
 	message(STATUS " Configuration               : "  ${CMAKE_BUILD_TYPE})
 endif()
 
-message(STATUS " C++ flags                   : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE}}")
+message(STATUS " C++ flags (active config.)  : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE}}")
+message(STATUS " EXE link flags (active)     : ${CMAKE_EXE_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS_${CMAKE_BUILD_TYPE}}")
+message(STATUS " Shared link flags (active)  : ${CMAKE_SHARED_LINKER} ${CMAKE_SHARED_LINKER_FLAGS_${CMAKE_BUILD_TYPE}}")
+
 message(STATUS " clang-tidy checks           : ${CLANG_TIDY_CHECKS}")
 
 message(STATUS "")

doc/mrpt-openni2-examples/openni2_to_rawlog/test.cpp

@@ -351,11 +351,7 @@ int main(int argc, char** argv)
 		std::cout << "MRPT exception caught: " << e.what() << std::endl;
 		return -1;
 	}
-	catch (...)
-	{
-		printf("Untyped exception!!");
-		return -1;
-	}
+
 }
 
 bool setONI2StreamMode(

doc/source/compiling.rst

@@ -17,14 +17,10 @@ binaries for your system or install via ``apt`` in Ubuntu.
 
 Minimum compiler requisites:
 
-- gcc-7 or newer. Only for Ubuntu 16.04LTS Xenial, you will have to
-  follow `these instructions <https://gist.github.com/jlblancoc/99521194aba975286c80f93e47966dc5>`_ for
-  installing gcc-7 in this version of Ubuntu.
-
-- clang-4 or newer.
+- A modern C++17 compiler: gcc (>=7) or clang (>=4).
 - Windows: Visual Studio 2017 version 15.3 or newer.
-- cmake >= 3.3 required (>=3.4 for Windows).
-- Eigen >= 3.3 required.
+- cmake (>=3.8)
+- Eigen (>=3.3) required.
 - Other libraries: See :ref:`doxid-dependencies`
 - On SIMD optimizations, read: :ref:`doxid-simd`
 
@@ -34,15 +30,16 @@ Minimum compiler requisites:
     **Minimum recommended** requisites:
 
     .. code-block:: bash
+    
        # All Ubuntu versions:
        sudo apt install build-essential pkg-config cmake \
          libopencv-dev libeigen3-dev zlib1g-dev \
          libsuitesparse-dev libjpeg-dev
          
-       # plus, only for Ubuntu < 22.04:
+       # plus, only for Ubuntu < 22.10:
        sudo apt install libwxgtk3.0-gtk3-dev
 
-       # plus, only for Ubuntu >= 22.04:
+       # plus, only for Ubuntu >= 22.10:
        sudo apt install libwxgtk3.2-dev
 
     **Recommended additional** packages to enable most MRPT features:

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,30 @@
 \page changelog Change Log
 
+# Version 2.5.6: Released November 12th, 2022
+- Changes in libraries:
+  - \ref mrpt_containers_grp
+    - New template class mrpt::containers::PerThreadDataHolder
+  - \ref mrpt_opengl_grp
+    - The rendering pipeline (mrpt::opengl::enqueueForRendering) is now more optimized to cull earlier, achieving faster rendering of large and complex 3D scenes.
+    - All opengl shaders, objects, and renderers are now multithread capable, including rendering several FBOs in different threads.
+    - mrpt::opengl::CFBORender constructor now takes a parameters struct making it much more configurable.
+    - mrpt::opengl::CAssimpModel now supports (de)serializing, storing itself in the Assimp binary format (`assbin`).
+    - New opengl shaders: one set for light-enabled objects and another for objects without diffuse reflection effects (to avoid conditionals inside the GPU shader programs).
+  - \ref mrpt_gui_grp
+    - mrpt::gui OpenGL canvas windows and components no longer have a background color property. It is now always handled by the mrpt::opengl::COpenGLViewport to avoid duplicated functionalities.
+  - \ref mrpt_system_grp
+    - These functions are now thread-safe if built in a system with the `localtime_r()` variant of `localtime()`:
+      - mrpt::system::timestampToParts()
+      - mrpt::system::dateTimeLocalToString()
+      - mrpt::system::timeLocalToString()
+- Build system:
+  - Provide CMAKE_BUILD_TYPES `SanitizeThread` and `SanitizeAddress`.
+  - Fix build against latest (Debian/sid) libglut-dev.
+- BUG FIXES:
+  - Fix build against latest version of EMSDK (Emscripten).
+  - Fix wrong scaling of samples in mrpt::random::CRandomGenerator::drawGaussianMultivariate() and mrpt::random::CRandomGenerator::drawGaussianMultivariateMany()
+  - mrpt::opengl::CSetOfTexturedTriangles was not automatically registered in the mrpt::rtti system
+
 # Version 2.5.5: Released October 19th, 2022
 - Changes in applications:
   - prg-configurator:

doc/source/doxygen-docs/lib_mrpt_math_lwgeom.md

@@ -3,12 +3,12 @@
 
 Lightweight SE(2)/SE(3) data types, geometry functions, etc.
 
-The "lightweight" name comes from the fact that these classes are simple
-structures without special memory alignment requirements and do not have a deep
-hiearchy of class heritance.
-
-This is in contrast to classes derived from mrpt::poses::CPoseOrPoint, which in
-turn offer:
+The "lightweight" adjective is used here in contrast to classes derived
+from mrpt::poses::CPoseOrPoint. 
+The "lightweight" alternative types here, defined in mrpt::math, are simple
+C++ structures without special memory alignment requirements and without 
+a deep hiearchy of class inheritance, as the "heavier" classes in mrpt::poses have.
+In turn, the latter ones offer:
  - Serialization (see: \ref mrpt_serialization_grp)
  - Buffered trigronometric calculations (e.g. mrpt::poses::CPose3D), hence they
 will be preferred to lightweight alternaives (e.g. mrpt::math::TPose3D) if the

doc/source/doxygen-docs/porting_mrpt2.md

@@ -19,7 +19,7 @@ working as usual after updating to MRPT 2.*:
    - `<mrpt/math/TPoint2D.h>`
    -  (and so on)
 
- - **Smart pointers** are now standard [`std::shared_ptr<>`](http://en.cppreference.com/w/cpp/memory/shared_ptr) instead of those based on `stlplus`. Required changes:
+ - **Smart pointers** are now standard [std::shared_ptr<>](http://en.cppreference.com/w/cpp/memory/shared_ptr) instead of those based on `stlplus`. Required changes:
     - `ptr.clear()`  --> `ptr.reset()`. Also, notice that the former `stlplus` semantics of `clear()` deleting **all** copies
 of the object, as hold by different smart pointers, is no longer maintained. There is no longer such a possibility, since the
 C++11 standard does not allow it to happen (and it makes sense in this way).

doc/source/doxygen-docs/tutorial_math_levenberg_marquardt.md

@@ -90,10 +90,10 @@ the change in the parameter vector is very small.
 # 4. C++ Implementation
 
 The LM algorithm is implemented in the C++ template class
-[`mrpt::math::CLevenbergMarquardtTempl<T>`](class_mrpt_math_CLevenbergMarquardtTempl.html),
+[mrpt::math::CLevenbergMarquardtTempl<T>](class_mrpt_math_CLevenbergMarquardtTempl.html),
 and there is an example in MRPT/samples/optimize-lm, which is described next.
 
-The type [`mrpt::math::CLevenbergMarquard`](namespace_mrpt_math.html#doxid-namespacemrpt-1-1math-1ae54dd61d03206aef14cfbea53165d239)
+The type [mrpt::math::CLevenbergMarquard](namespace_mrpt_math.html#doxid-namespacemrpt-1-1math-1ae54dd61d03206aef14cfbea53165d239)
 is actually a shortcut for the template instantiation `mrpt::math::CLevenbergMarquardtTempl<double>`.
 
 The image below represents the resulting path from the initial guess to the minimum for this example.