Explain the rationale for the changes (possible link to a Request For Comments or to an issue).
### Implementation Details
#### Classes and files
Give an overview of the implementation: main changes made to classes, files and module. Do not paste complete diff, as it is available in the merge request already.
#### Applications
Describe any changes made to existing applications, or new application that have been added.
#### Tests
Describe the testing strategy for new features.
### Documentation
List or link documentation modification that were made (doxygen, example, software guide, application documentation, cookbook).
### Additional notes
List remaining open issues if any, and additional notes.