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DART Changelog

DART 6

DART 6.15.0 (2024-11-15)

  • Tested Platforms

    • Linux
      • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
      • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
    • macOS 14 / Clang 15 / arm64
    • Windows / MSVC 19.40 / x86_64

  • Build

    • Added ImGui 1.91.5 support: #1872
    • Added nlopt 2.9.0 support: #1875
    • Fixed imgui is not added as transitive dependency: #1877

DART 6.14.5 (2024-09-08)

  • Tested Platforms

    • Linux
      • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
      • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
    • macOS 14 / Clang 15 / arm64
    • Windows / MSVC 19.40 / x86_64

  • Fixed missing parentheses in config.hpp: #1838

  • Allowed negative scale for MeshShape: #1841

DART 6.14.4 (2024-07-06)

  • Tested Platforms

    • Linux
      • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
      • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
    • macOS 14 / Clang 15 / arm64
    • Windows / MSVC 19.40 / x86_64

  • Fixed GLUT dependency handling on Windows: #1827

DART 6.14.3 (2024-07-05)

  • Tested Platforms

    • Linux
      • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
      • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
    • macOS 14 / Clang 15 / arm64
    • Windows / MSVC 19.40 / x86_64

  • Changed the default CMake option to DART_ENABLE_SIMD=OFF: #1825

DART 6.14.2 (2024-06-28)

  • Tested Platforms

    • Linux
      • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
      • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
    • macOS 14 / Clang 15 / arm64
    • Windows / MSVC 19.40 / x86_64

  • Fixed version definitions: #1820

DART 6.14.2 (2024-06-26)

  • Tested Platforms

    • Linux
      • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
      • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
    • macOS 14 / Clang 15 / arm64
    • Windows / MSVC 19.40 / x86_64

  • Included CTest for BUILD_TESTING option: #1819

DART 6.14.0 (2024-06-24)

This release is mostly a maintenance update, including various CI updates and build fixes for recent development environment toolsets and dependencies.

  • Tested Platforms

    • Linux
      • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
      • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
    • macOS 14 / Clang 15 / arm64
    • Windows / MSVC 19.40 / x86_64

  • Breaking Changes

    • Removed planning component

  • Build

    • Added Pixi support

  • General

    • Added profile interface with Tracy backend support
    • Added benchmark setup, including boxes and kinematics benchmarks

  • Dynamics

DART 6.13.2 (2024-03-17)

  • Tested Platforms

    • Linux
      • Ubuntu 22.04 LTS on amd64 / GCC 11.2 / amd64
      • Ubuntu 24.04 LTS on amd64 / GCC 13.2 / amd64
    • macOS 12 (Monterey) / AppleClang 14 / amd64
    • Windows / MSVC 19.38 / amd64

  • Build

    • Fixed build with GCC >= 13: #1793

DART 6.13.1 (2024-01-04)

  • Tested Platforms

    • Ubuntu Focal on amd64 / GCC 9.4 / amd64
    • Ubuntu Jammy on amd64 / GCC 11.3 / amd64
    • macOS 12 (Monterey) / Clang 14 / amd64
    • Windows / MSVC 19.37 / amd64

  • Build

    • Fixed build with urdfdom 4.0.0: #1779
    • Fixed invalid array access in moving skeleton subtree: #1778

  • Dynamics

    • Fixed joint not recovering after reaching position limits in servo mode: #1774

DART 6.13.0 (2022-12-31)

  • Supported Platforms

    • Ubuntu Focal on amd64 / GCC 9.3 / amd64
    • Ubuntu Jammy on amd64 / GCC 11.2 / amd64
    • macOS 12 (Monterey) / Clang 13 / amd64
    • Windows / Microsoft Visual Studio 2019 / amd64

  • Dependency

    • Added required dependencies: fmt
    • Added optional dependencies: spdlog
    • Removed required dependencies: Boost

  • Build

    • Dropped supporting FCL < 0.5: #1647

  • Common

  • Collision Detection

    • Updated to use convex mesh of Bullet when possible: #1664, #1667

  • Dynamics

    • Fixed setResitutionCoeff() calling setFrictionCoeff(): #1677
    • Made inertial warnings optional when setting tensor: #1672
    • Added deep copy for shapes: #1612
    • Added iterator methods to container-like classes: #1644
    • Fixed grouping of constraints: #1624, #1628
    • Fixed issue with removing skeletons without shapes: #1625
    • Added support for custom contact surface handlers: #1626

  • GUI

    • Fixed depth testing for transparent objects: #1643
    • Added depth rendering mode: #1652

DART 6.12.2 (2022-07-31)

  • Build

    • Fixed build with urdfdom 3.1.0 on Windows: #1675

DART 6.12.1 (2021-11-04)

  • Build

    • Fixed bullet header include: #1620

  • dartpy

    • Added Python bindings for Joint::getWrenchTo{Child|Parent}BodyNode: #1621

DART 6.12.0 (2021-11-01)

  • API Breaking Changes

    • DART 6.12.0 and later require compilers that support C++17: #1600
      • Increased minimum CMake version to 3.10.2
      • Increased minimum compiler versions to GCC 7.3.0, Clang 6.0, MSVC 16.0
      • Dropped Ubuntu Xenial (16.04 LTS) support

  • Build

    • Remove DART_BUILD_DARTPY option: #1600

  • Dynamics

    • Added joint force/torque getter: #1616

  • Parsers

    • Added default options to DartLoader for missing properties in URDF files: #1605
    • Allowed SdfParser to set default root joint type: #1617

  • GUI

    • Updated ImGui to 1.84.2: #1608

  • dartpy

    • Added Python bindings for ResourceRetriever and SdfParser: #1610

DART 6.11.2 (2021-10-29)

  • dartpy

    • Added Python binding for global lighting mode setting: #1615

DART 6.11.1 (2021-08-23)

  • Dynamics

    • Fixed incorrect LCP construction in JointConstraint for multi-DOFs joints: #1597

DART 6.11.0 (2021-07-15)

  • Math

    • Added Mesh, TriMesh, and Icosphere classes: #1579

  • Collision

    • Fixed incorrect group-group collision checking for BulletCollisionDetector: #1585, #717

  • Dynamics

    • Fixed servo motor doesn't respect joint position limits: #1587

  • GUI

    • Fixed incorrect MultiSphereConvexHull rendering: #1579
    • Use GLVND over the legacy OpenGL libraries: #1584

  • Build and testing

    • Add DART_ prefix to macros to avoid potential conflicts: #1586

DART 6.10.1 (2021-04-19)

  • Dynamics

    • Fixed inertia calculation of CapsuleShape: #1561

  • GUI

    • Changed to protect OpenGL attributes shared by ImGui and OSG: #1558
    • Changed to set backface culling by default: #1559

  • dartpy

    • Added Python binding for BodyNode::getBodyForce(): #1563

DART 6.10.0 (2021-04-09)

  • Common

    • Removed use of boost::filesystem in public APIs: #1417
    • Changed Signal to remove connection when they're being disconnected: #1462

  • Collision

    • Added ConeShape support for FCLCollisionDetector: #1447
    • Fixed segfault from raycast when no ray hit: #1461
    • Added PyramidShape class: #1466

  • Kinematics

    • Added IkFast parameter accessors to IkFast class: #1396
    • Changed IkFast to wrap IK solutions into the joint limits for RevoluteJoint: #1452
    • Added option to specify reference frame of TaskSpaceRegion: #1548

  • Dynamics

    • Fixed friction and restitution of individual shapes in a body: #1369
    • Fixed soft body simulation when command input is not resetted: #1372
    • Added joint velocity limit constraint support: #1407
    • Added type property to constrain classes: #1415
    • Allowed to set joint rest position out of joint limits: #1418
    • Added secondary friction coefficient parameter: #1424
    • Allowed to set friction direction per ShapeFrame: #1427
    • Fixed incorrect vector resizing in BoxedLcpConstraintSolver: #1459
    • Changed to increment BodyNode version when it's being removed from Skeleton: #1489
    • Changed to print warning only once from BulletCollisionDetector::collide/distance: #1546
    • Added force dependent slip: #1505

  • GUI

    • Fixed memory leaks from dart::gui::osg::Viewer: #1349
    • Added point rendering mode to PointCloudShape: #1351, #1355
    • Updated ImGui to 1.71: #1362
    • Updated ImGui to 1.79: #1498
    • Fixed refresh of LineSegmentShapeNode: #1381
    • Fixed OSG transparent object sorting: #1414
    • Added modifier key support to ImGuiHandler: #1436
    • Fixed mixed intrinsic and extrinsic camera parameters in OpenGL projection matrix: #1485
    • Enabled mouse middle and right buttons in ImGuiHandler: #1500

  • Parser

    • Allowed parsing SDF up to version 1.6: #1385
    • Fixed SDF parser not creating dynamics aspect for collision shape: #1386
    • Added root joint parsing option in URDF parser: #1399, #1406
    • Enabled URDF parser to read visual and collision names: #1410
    • Added (experimental) MJCF parser: #1416

  • dartpy

    • Added raycast option and result: #1343
    • Added GUI event handler: #1346
    • Added shadow technique: #1348
    • Added findSolution and solveAndApply to InverseKinematics: #1358
    • Added InteractiveFrame and ImGui APIs: #1359
    • Added bindings for Joint::getTransformFrom{Parent|Child}BodyNode(): #1377
    • Added bindings for BodyNode::getChild{BodyNode|Joint}(): #1387
    • Added bindings for Inertia: #1388
    • Added bindings for getting all BodyNodes from a Skeleton: #1397
    • Added bindings for background color support in osg viewer: #1398
    • Added bindings for BallJoint::convertToPositions(): #1408
    • Fixed typos in Skeleton: #1392
    • Fixed enabling drag and drop for InteractiveFrame: #1432
    • Added bindings for pointcloud and contact retrieval: #1455
    • Fixed TypeError from dartpy.dynamics.Node.getBodyNodePtr(): #1463
    • Added pybind/eigen.h to DistanceResult.cpp for read/write of eigen types: #1480
    • Added bindings for adding ShapeFrames to CollisionGroup: #1490
    • Changed dartpy install command to make install-dartpy: #1503
    • Added bindings for CollisionFilter, CollisionGroup, and Node: #1545
    • Added bindings for TaskSpaceRegion: #1550

  • Build and testing

    • Fixed compiler warnings from GCC 9.1: #1366
    • Replaced M_PI with dart::math::constantsd::pi(): #1367
    • Enabled octomap support on macOS: #1078
    • Removed dependency on Boost::regex: #1412
    • Added support new if() IN_LIST operator in DARTConfig.cmake: #1434
    • Updated Findfcl.cmake to support FCL 0.6: #1441
    • Added gtest macros for Eigen object comparisons: #1443
    • Removed gccfilter: #1464
    • Allowed to set CMAKE_INSTALL_PREFIX on Windows: #1478
    • Enforced to use OpenSceneGraph 3.7.0 or greater on macOS Catalina: #1479
    • Fixed compatibility with clang-cl: #1509
    • Fixed MSVC linking for assimp and fcl: #1510
    • Fixed AspectWithState-relate compile error on Windows: #1528
    • Made dart.pc relocatable: #1529
    • Added CI for multiple Linux platforms: arm64 and ppc64le: #1531
    • Fixed Aspect/Composite-relate tests on Windows/MSVC: #1541, #1542
    • Added DART_SKIP_<dep>_advanced option: #1529
    • Replaced OpenGL dependency variables with targets: #1552

  • Documentation

    • Updated tutorial documentation and code to reflect new APIs: #1481

DART 6.9.5 (2020-10-17)

  • Optimization

    • Added Ipopt >= 3.13 support: #1506

DART 6.9.4 (2020-08-30)

  • Build

    • Added support new if() IN_LIST operator in DARTConfig.cmake (6.9 backport): #1494

DART 6.9.3 (2020-08-26)

  • Dynamics

    • Changed to update the Properties version of a BodyNode when moved to a new Skeleton: #1445
    • Fixed incorrect implicit joint damping/spring force computation in inverse dynamics: #1451

DART 6.9.2 (2019-08-16)

  • Dynamics

    • Allowed constraint force mixing > 1: #1371

DART 6.9.1 (2019-06-06)

  • Collision

    • Added default constructor to RayHit: #1345

  • dartpy

    • Updated build scripts for uploading dartpy to PyPI: #1341

DART 6.9.0 (2019-05-26)

  • API Breaking Changes

    • DART 6.9.0 and later require compilers that support C++14.

  • Common

    • Deprecated custom make_unique in favor of std::make_unique: #1317

  • Collision Detection

    • Added raycast query to BulletCollisionDetector: #1309

  • Dynamics

    • Added safeguard for accessing Assimp color: #1313

  • Parser

    • Changed URDF parser to use URDF material color when specified: #1295

  • GUI

    • Added heightmap support to OSG renderer: #1293
    • Improved voxel grid and point cloud rendering performance: #1294
    • Fixed incorrect alpha value update of InteractiveFrame: #1297
    • Fixed dereferencing a dangling pointer in WorldNode: #1311
    • Removed warning of ImGuiViewer + OSG shadow: #1312
    • Added shape type and color options to PointCloudShape: #1314, #1316
    • Fixed incorrect transparency of MeshShape for MATERIAL_COLOR mode: #1315
    • Fixed incorrect PointCloudShape transparency: #1330
    • Improved voxel rendering by using multiple nodes instead of CompositeShape: #1334

  • Examples and Tutorials

    • Updated examples directory to make dart::gui::osg more accessible: #1305

  • dartpy

    • Switched to pybind11: #1307
    • Added grid visual: #1318
    • Added ReferentialSkeleton, Linkage, and Chain: #1321
    • Enabled WorldNode classes to overload virtual functions in Python: #1322
    • Added JacobianNode and operational space controller example: #1323
    • Removed static create() functions in favor of custom constructors: #1324
    • Added optimizer APIs with GradientDescentSolver and NloptSolver: #1325
    • Added SimpleFrame: #1326
    • Added basic inverse kinematics APIs: #1327
    • Added shapes and ShapeFrame aspects: #1328
    • Added collision APIs: #1329
    • Added DegreeOfFreedom and ShapeNode: #1332
    • Added constraint APIs: #1333
    • Added BallJoint, RevoluteJoint, joint properties, and chain tutorial (incomplete): #1335
    • Added all the joints: #1337
    • Added DART, Bullet, Ode collision detectors: #1339

DART 6.8.5 (2019-05-26)

  • Collision

    • Fixed handling of submeshes in ODE collision detector: #1336

Compilers Tested

  • Linux

    • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
    • GCC 32-bit: 5.4.0

  • macOS

    • AppleClang: 9.1.0, 10.0.0

DART 6.8.4 (2019-05-03)

Changes

  • GUI

    • Fixed crashing on exiting OSG + ImGui applications: #1303

Compilers Tested

  • Linux

    • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
    • GCC 32-bit: 5.4.0

  • macOS

    • AppleClang: 9.1.0, 10.0.0

DART 6.8.3 (2019-05-01)

Changes

  • Parser

    • Fixed VskParker returning incorrect resource retriever: #1300

  • Build

    • Fixed building with pagmo's optional dependencies: #1301

Compilers Tested

  • Linux

    • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
    • GCC 32-bit: 5.4.0

  • macOS

    • AppleClang: 9.1.0, 10.0.0

DART 6.8.2 (2019-04-23)

Changes

  • Dynamics

    • Fixed BoxedLcpConstraintSolver is not API compatible with 6.7: #1291

  • Build

    • Fixed building with FCL built without Octomap: #1292

Compilers Tested

  • Linux

    • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
    • GCC 32-bit: 5.4.0

  • macOS

    • AppleClang: 9.1.0, 10.0.0

DART 6.8.1 (2019-04-23)

Changes

  • Build System

    • Fixed invalid double quotation marks in DARTFindBoost.cmake: #1283
    • Disabled octomap support on macOS: #1284

Compilers Tested

  • Linux

    • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
    • GCC 32-bit: 5.4.0

  • macOS

    • AppleClang: 9.1.0, 10.0.0

DART 6.8.0 (2019-04-22)

Changes

  • Kinematics

    • Added findSolution() and solveAndApply() to InverseKinematics and HierarchicalIk classes and deprecated solve(~) member functions: #1266
    • Added an utility constructor to Linkage::Criteria to create sequence Linkage: #1273

  • Dynamics

    • Fixed incorrect transpose check in Inertia::verifySpatialTensor(): #1258
    • Allowed BoxedLcpConstraintSolver to have a secondary LCP solver: #1265

  • Simulation

    • The LCP solver will be less aggressive about printing out unnecessary warnings: #1238
    • Fixed not copying constraints in World::setConstraintSolver(): #1260

  • Collision Detection

    • The BodyNodeCollisionFilter will ignore contacts between immobile bodies: #1232

  • Planning

    • Fixed linking error of FLANN by explicitly linking to lz4: #1221

  • Python

    • Added (experimental) Python binding: #1237

  • Parsers

    • Changed urdf parser to warn if robot model has multi-tree: #1270

  • GUI

    • Updated ImGui to 1.69: #1274
    • Added VoxelGridShape support to OSG renderer: #1276
    • Added PointCloudShape and its OSG rendering: #1277
    • Added grid visual to OSG renderer: #1278, #1280

  • Build System

    • Changed to use GNUInstallDirs for install paths: #1241
    • Fixed not failing for missing required dependencies: #1250
    • Fixed attempting to link octomap when not imported: #1253
    • Fixed not defining boost targets: #1254

Compilers Tested

  • Linux

    • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
    • GCC 32-bit: 5.4.0

  • macOS

    • AppleClang: 9.1.0, 10.0.0

DART 6.7.3 (2019-02-19)

Changes

  • Dynamics

    • Fixed Skeleton::setState(): #1245

Compilers Tested

  • Linux

    • GCC (C++11): 5.4.0, 7.3.0, 8.2.0

  • Linux (32-bit)

    • GCC (C++11): 5.4.0

  • macOS

    • AppleClang (C++11): 9.1.0

DART 6.7.2 (2019-01-17)

Changes

  • Build system

    • Fixed #1223 for the recursive case: #1227
    • Specified mode for find_package(): #1228

Compilers Tested

  • Linux

    • GCC (C++11): 5.4.0, 7.3.0, 8.2.0

  • Linux (32-bit)

    • GCC (C++11): 5.4.0

  • macOS

    • AppleClang (C++11): 9.1.0

DART 6.7.1 (2019-01-15)

Changes

  • Build system

    • Ensure that imported targets of dependencies are always created when finding the dart package: #1222
    • Set components to not-found when their external dependencies are missing: #1223

Compilers Tested

  • Linux

    • GCC (C++11): 5.4.0, 7.3.0, 8.2.0

  • Linux (32-bit)

    • GCC (C++11): 5.4.0

  • macOS

    • AppleClang (C++11): 9.1.0

DART 6.7.0 (2019-01-10)

Changes

  • Build system

    • Fixed compilation warnings for newer versions of compilers: #1177
    • Changed to generate namespace headers without requiring *.hpp.in files: #1192
    • Dropped supporting Ubuntu Trusty and started using imported targets of dependencies: #1212

  • Collision Detection

    • CollisionGroups will automatically update their objects when any changes occur to Skeletons or BodyNodes that they are subscribed to: #1112
    • Contact points with negative penetration depth will be ignored: #1185

  • Math

    • Consolidated random functions into Random class: #1109

  • Dynamics

    • Refactor constraint solver: #1099, #1101
    • Added mimic joint functionality as a new actuator type: #1178
    • Added clone function to MetaSkeleton: #1201

  • Optimization

    • Added multi-objective optimization with pagmo2 support: #1106

  • GUI

    • Reorganized OpenGL and GLUT files: #1088
    • Added the RealTimeWorldNode to display simulations at real-time rates: #1216

  • Misc

    • Updated Googletest to version 1.8.1: #1214

Compilers Tested

  • Linux

    • GCC (C++11): 5.4.0, 7.3.0, 8.2.0

  • Linux (32-bit)

    • GCC (C++11): 5.4.0

  • macOS

    • AppleClang (C++11): 9.1.0

DART 6.6.2 (2018-09-03)

  • Utils

    • Fixed checking file existence in DartResourceRetriever: #1107

DART 6.6.1 (2018-08-04)

  • Utils

    • Added option to DartResourceRetriever to search from environment variable DART_DATA_PATH: #1095

  • Examples

    • Fixed CMakeLists.txt of humanJointLimits: #1094

DART 6.6.0 (2018-08-02)

  • Collision detection

DART 6.5.0 (2018-05-12)

  • Common

    • Added LockableReference classes: #1011
    • Added missing <vector> to Memory.hpp: #1057

  • GUI

    • Added FOV API to OSG viewer: #1048

  • Parsers

    • Fixed incorrect parsing of continuous joints specified in URDF #1064

  • Simulation

    • Added World::hasSkeleton(): #1050

  • Misc

    • Fixed memory leaks in mesh loading: #1066

DART 6.4.0 (2018-03-26)

  • Common

    • Added DART_COMMON_DECLARE_SMART_POINTERS macro: #1022
    • Added ResourceRetriever::getFilePath(): #972

  • Kinematics/Dynamics

    • Added relative Jacobian functions to MetaSkeleton: #997
    • Added vectorized joint limit functions: #996
    • Added lazy evaluation for shape's volume and bounding-box computation: #959
    • Added IkFast support as analytic IK solver: #887
    • Added TranslationalJoint2D: #1003
    • Fixed NaN values caused by zero-length normals in ContactConstraint: #881
    • Extended BodyNode::createShapeNode() to accept more types of arguments: #986

  • Collision detection

    • Added FCL 0.6 support (backport of #873): #936

  • GUI

    • Added support of rendering texture images: #973
    • Added OSG shadows: #978

  • Examples

    • Added humanJointLimits: #1016

  • License

    • Added Personal Robotics Lab and Open Source Robotics Foundation as contributors: #929

  • Misc

    • Added World::create(): #962
    • Added MetaSkeleton::hasBodyNode() and MetaSkeleton::hasJoint(): #1000
    • Suppressed -Winjected-class-name warnings from Clang 5.0.0: #964
    • Suppressed -Wdangling-else warnings from GCC 7.2.0: #937
    • Changed console macros to use global namespace resolutions: #1010
    • Fixed build with Eigen 3.2.1-3.2.8: #1042
    • Fixed various build issues with Visual Studio: #956
    • Removed TinyXML dependency: #993

DART 6.3.1 (2018-03-21)

DART 6.3.0 (2017-10-04)

  • Collision detection

    • Added a feature of disabling body node pairs to BodyNodeCollisionFilter: #911

  • Kinematics/Dynamics

    • Added setter and getter for WeldJointConstraint::mRelativeTransform: #910

  • Parsers

    • Improved SkelParser to read alpha value: #914

  • Misc

    • Changed not to use lambda function as an workaround for DART python binding: #916

DART 6.2.1 (2017-08-08)

  • Collision detection

    • Fixed collision checking between objects from the same body node: #894

  • Kinematics/Dynamics

    • Fixed transform of ScrewJoint with thread pitch: #855

  • Parsers

    • Fixed incorrect reading of <use_parent_model_frame> from SDF: #893
    • Fixed missing reading of joint friction from URDF: #891

  • Testing

    • Fixed testing ODE collision detector on macOS: #884
    • Removed redundant main body for each test source file: #856

  • Misc

    • Fixed build of dart-gui-osg that depends on the presence of OSG: #898
    • Fixed build of examples and tutorials on macOS: #889
    • Fixed missing overriding method OdePlane::isPlaceable(): #886
    • Replaced use of enum by static constexpr: #852, #904

DART 6.2.0 (2017-05-15)

  • Common

    • Added Factory class and applied it to collision detection creation: #864
    • Added readAll() to Resource and ResourceRetriever: #875

  • Math

    • Added accessors for diameters and radii of EllipsoidShape, and deprecated EllipsoidShape::get/setSize(): #829
    • Fixed Lemke LCP solver (#808 for DART 6): #812

  • Collision Detection

    • Added support of ODE collision detector: #861
    • Fixed incorrect collision filtering of BulletCollisionDetector: #859

  • Simulation

    • Fixed World didn't clear collision results on reset: #863

  • Parsers

    • Fixed incorrect creation of resource retriever in SkelParser and SdfParser: #847, #849

  • GUI

    • Added MotionBlurSimWindow: #840
    • Improved MultiSphereShape rendering in GLUT renderer: #862
    • Fixed incorrect parsing of materials and normal scaling from URDF: #851
    • Fixed the OSG renderer not rendering collision geometries: #851
    • Fixed that GUI was rendering white lines with nvidia drivers: #805

  • Misc

    • Added createShared() and createUnique() pattern: #844
    • Added Skeleton::getRootJoint(): #832
    • Added CMake targets for code formatting using clang-format: #811, #817
    • Renamed MultiSphereShape to MultiSphereConvexHullShape: #865
    • Modified the member function names pertain to lazy evaluation to be more relevant to their functionalities: #833

  • Tutorials & Examples

    • Allowed tutorials and examples to be built out of DART source tree: #842
    • Fixed tutorialDominoes-Finished that didn't work with the latest DART: #807

DART 6.1.2 (2017-01-13)

  • Dynamics

    • Fixed bug of ContactConstraint with kinematic joints: #809

  • Misc

    • Fixed that ZeroDofJoint::getIndexInTree was called: #818

DART 6.1.1 (2016-10-14)

  • Build

    • Modified to build DART without SIMD options by default: #790
    • Modified to build external libraries as separately build targets: #787
    • Modified to export CMake target files separately per target: #786

  • Misc

    • Updated lodepng up to version 20160501: #791

DART 6.1.0 (2016-10-07)

  • Collision detection

    • Added distance API: #744
    • Fixed direction of contact normal of BulletCollisionDetector: #763

  • Dynamics

    • Added computeLagrangian() to MetaSkeleton and BodyNode: #746
    • Added new shapes: sphere, capsule, cone, and multi-sphere: #770, #769, #745
    • Changed base class of joint from SingleDofJoint/MultiDofJoint to GenericJoint: #747

  • Planning

    • Fixed incorrect linking to flann library: #761

  • Parsers

    • Added sdf parsing for fixed joint and material tag of visual shape: #775
    • Added support of urdfdom_headers 1.0: #766

  • GUI

    • Added ImGui for 2D graphical interface: #781

  • Examples

    • Added osgAtlasSimbicon and osgTinkertoy: #781

  • Misc improvements and bug fixes

    • Added virtual Shape::getType() and deprecated ShapeType Shape::getShapeType(): #725
    • Changed building with SIMD optional: #765, #760
    • Fixed minor build and install issues: #773, #772
    • Fixed Doxyfile to show missing member functions in API documentation: #768
    • Fixed typo: #756, #755

DART 6.0.1 (2016-06-29)

  • Collision detection

    • Added support of FCL 0.5 and tinyxml2 4.0: #749
    • Added warnings for unsupported shape pairs of DARTCollisionDetector: #722

  • Dynamics

    • Fixed total mass is not being updated when bodies removed from Skeleton: #731

  • Misc improvements and bug fixes

    • Renamed DEPRECATED and FORCEINLINE to DART_DEPRECATED and DART_FORCEINLINE to avoid name conflicts: #742
    • Updated copyright: added CMU to copyright holder, moved individual contributors to CONTRIBUTING.md: #723

DART 6.0.0 (2016-05-10)

  • Common data structures

  • Kinematics

    • Added convenient functions for setting joint limits: #703
    • Added more description on InverseKinematics::solve(): #624
    • Added API for utilizing analytical inverse kinematics: #530, #463
    • Added color property to Marker: #187
    • Improved Skeleton to clone State as well: #691
    • Improved ReferentialSkeleton to be able to add and remove BodyNodes and DegreeOfFreedoms to/from Groups freely: #557, #556, #548
    • Changed Marker into Node: #692, #609
    • Renamed Joint::get/setLocal[~] to Joint::get/setRelative[~]: #715, #714
    • Renamed PositionLimited to PositionLimitEnforced: #447
    • Fixed initialization of joint position and velocity: #691, #621
    • Fixed InverseKinematics when it's used with FreeJoint and BallJoint: #683
    • Fixed ambiguous overload on MetaSkeleton::getLinearJacobianDeriv: #628, #626

  • Dynamics

    • Added get/setLCPSolver functions to ConstraintSolver: #633
    • Added ServoMotorConstraint as a preliminary implementation for SERVO actuator type: #566
    • Improved ConstraintSolver to obey C++11 ownership conventions: #616
    • Fixed segfualting of DantzigLCPSolver when the constraint dimension is zero: #634
    • Fixed missing implementations in ConstrainedGroup: #586
    • Fixed incorrect applying of joint constraint impulses: #317
    • Deprecated draw() functions of dynamics classes: #654

  • Collision detection

    • Added CollisionGroup and refactored CollisionDetector to be more versatile: #711, #704, #689, #631, #642, #20
    • Improved API for self collision checking options: #718, #702
    • Deprecated BodyNode::isColliding; collision sets are moved to CollisionResult: #694, #670, #668, #666

  • Parsers

    • Added back VSK parser: #602, #561, #254
    • Fixed segfault of SdfParser when nullptr ResourceRetriever is passed: #663

  • GUI features

    • Merged renderer namespace into gui namespace: #652, #589
    • Moved osgDart under dart::gui namespace as dart::gui::osg: #651
    • Fixed GlutWindow::screenshot(): #623, #395

  • Simulation

    • Fixed World::clone() didn't clone the collision detector: #658
    • Fixed bug of World concurrency: #577, #576

  • Misc improvements and bug fixes

    • Added make_unique<T> that was omitted from C++11: #639
    • Added missing override keywords: #617, #535
    • Added gcc warning flag -Wextra: #600
    • Improved memory management of constraint namespace: #584, #583
    • Changed the extension of headers from .h to .hpp: #709, #693, #568
    • Changed Doxyfile to gnerate tag file: #690
    • Changed the convention to use std::size_t over size_t: #681, #656
    • Changed CMake to configure preprocessors using #cmakedefine: #648, #641
    • Updated copyright years: #679, #160
    • Renamed directory name apps to examples: #685
    • Fixed warnings of unused variables in release mode: #646
    • Fixed typo of getNumPluralAddoName in utility macro: #615
    • Fixed linker error by adding namespace-scope definitions for constexpr static members: #603
    • Fixed segfault from nullptr meshes: #585
    • Fixed typo of tutorial with minor improvements: #573
    • Fixed NameManager<T>::removeEntries(~) called a function that does not exist: #564, #554
    • Fixed missing definitions for various functions: #558, #555
    • Fixed const correctness of BodyNode::getMomentsOfInertia(): #541, #540
    • Fixed ftel bug in Linux with an workaround: #533
    • Removed unnecessary virtual keyword for overriding functions: #680
    • Removed deprecated APIs in DART 5: #678

  • Build and test issues

    • Added CMake target for code coverage testing, and automatic reporting: #688, #687, #638, #632
    • Added missing liburdfdom-dev dependency in Ubuntu package: #574
    • Modulized DART libraries: #706, #675, #652, #477
    • Improved Travis-CI script: #655
    • Improved CMake script by splitting tutorials, examples, and tests into separate targets: #644
    • Improved wording of the cmake warning messages for ASSIMP: #553
    • Changed Travis-CI to treat warning as errors using -Werror flags: #682, #677
    • Changed Travis-CI to test DART with bullet collision detector: #650, #376
    • Changed the minimum requirement of Visual Studio version to 2015: #592
    • Changed CMake to build gui::osg examples when DART_BUILD_EXAMPLES is on: #536
    • Simplfied Travis-CI tests for general pushes: #700
    • Fixed Eigen memory alignment issue in testCollision.cpp: #719
    • Fixed BULLET_INCLUDE_DIRS in DARTConfig.cmake: #697
    • Fixed linking with Bullet on OS X El Capitan by supporting for Bullet built with double precision: #660, #657
    • Fixed FCL version check logic in the main CMakeLists.txt: #640
    • Fixed find_package(DART) on optimizer components: #637
    • Fixed linking against ${DART_LIBRARIES} not working in Ubuntu 14.04: #630, #629
    • Fixed Visual Studio 2015 build errors: #580
    • Removed OpenGL dependency from dart library: #667
    • Removed version check for Bullet: #636, #625

DART 5

Version 5.1.6 (2017-08-08)

  1. Improved camera movement of OpenGL GUI: smooth zooming and translation

  2. Removed debian meta files from the main DART repository

Version 5.1.5 (2017-01-20)

  1. Fixed Lemke LCP solver for several failing cases

  2. Increase minimum required Ipopt version to 3.11.9

  3. Added support of urdfdom_headers 1.0 for DART 5.1 (backport of #766)

Version 5.1.4 (2016-10-14)

  1. Fixed inconsistent frame rate of GlutWindow

Version 5.1.3 (2016-10-07)

  1. Updated to support Bullet built with double precision (backport of #660)

  2. Modified to use btGImpactMeshShape instead of btConvexTriangleMeshShape for mesh

  3. Updated to support FCL 0.5 and tinyxml 4.0 (backport of #749)

Version 5.1.2 (2016-04-25)

  1. Fixed inverse kinematics (backporting)

  2. Fixed aligned memory allocation with Eigen objects in loading meshes

  3. Fixed incorrect applying joint constraint impulses (backporting)

  4. Fixed some build and packaging issues

Version 5.1.1 (2015-11-06)

  1. Add bullet dependency to package.xml

  2. Improved handling of missing symbols of Assimp package

  3. Improved travis-ci build log for Mac

  4. Fixed warnings in Function.cpp

  5. Fixed build failures on AppVeyor

  6. Fixed const qualification of ResourceRetriever

  7. Fixed aligned memory allocation with Eigen objects

  8. Fixed copy safety for various classes

Version 5.1.0 (2015-10-15)

  1. Fixed incorrect rotational motion of BallJoint and FreeJoint

  2. Removed old documents: dart-tutorial, programmingGuide

  3. Fixed aligned memory allocation with Eigen objects

  4. Fixed segfault in Linkage::Criteria

  5. Improved sdf/urdf parser

  6. Fixed CMake warnings

  7. Fixed build issues on Windows

  8. Fixed IpoptSolver bugs

  9. Added Frame::getTransform(withRespecTo, inCoordinatesOf)

  10. Improved API documentation -- set the SHOW_USED_FILES tag to NO

  11. Added convenience setters for generalized coordinates of FreeJoint

  12. Fixed compilation warnings

  13. Added a mutex to Skeleton

  14. Added generic URIs support

  15. Added End Effector, Inverse Kinematics, and osgDart

  16. Removed outdated packaging scripts

  17. Added initial position and initial velocity properties

  18. Added a package.xml file for REP-136 support

  19. Improved Linkage and Chain Criteria

  20. Added Joint::isCyclic to mark SO(2) topology

  21. Fixed SEGFAULTs in DartLoader

  22. Added the SYSTEM flag to include_directories

  23. Improved Joint warning

  24. Added tutorials (http://dart.readthedocs.org/)

Version 5.0.2 (2015-09-28)

  1. Fixed bug in Jacobian update notifications

Version 5.0.1 (2015-07-28)

  1. Improved app indexing for bipedStand and atlasSimbicon

  2. Added clipping command when it exceeds the limits

  3. Improved CollisionNode's index validity check

  4. Standardized warning messages for Joints

  5. Fixed bug in SDF parser -- correct child for a joint

  6. Fixed SDF parsing for single link model without joint

  7. Added missing virtual destructors to Properties in Entity and [Soft]BodyNode

  8. Limited maximum required version of Assimp less than 3.0~dfsg-4

  9. Fixed SEGFAULTs in DartLoader

Version 5.0.0 (2015-06-15)

  1. Fixed aligned memory allocation with Eigen objects

  2. Added some missing API for DegreeOfFreedom

  3. Replaced logMaps with Eigen::AngleAxisd

  4. Improved FCL collision detector

  5. Removed deprecated API and suppressed warnings

  6. Added use of OpenGL's multisample anti-aliasing

  7. Added computation of differences of generalized coordinates

  8. Added deprecated and force-linline definitions for clang

  9. Eradicated memory leaks and maked classes copy-safe and clonable

  10. Improved PlaneShape constructors

  11. Added appveyor options for parallel build and detailed log

  12. Improved robustness and package handling for URDF parsing

  13. Fixed bug in BodyNode::_updateBodyJacobianSpatialDeriv()

  14. Added alpha channel and Color functions

  15. Added Jacobian getters to Skeleton

  16. Added ArrowShape for visualizing arrows

  17. Fixed matrix dimension bug in operationalSpaceControl app

  18. Added build type definitions

  19. Added Signal class

  20. Added LineSegmentShape for visualizing line segments

  21. Fixed segfault in SoftSdfParser

  22. Added subscriptions for destructions and notifications

  23. Added NloptSolver::[get/set]NumMaxEvaluations()

  24. Added support of Eigen::VectorXd in parser

  25. Added Skeleton::getNumJoints()

  26. Fixed bug in DARTCollide for sphere-sphere collision

  27. Fixed naming issues for Skeletons in World

  28. Added PlanarJoint support for URDF loader

  29. Fixed rotation of the inertia reference frame for URDF loader

  30. Fixed bug in loading WorldFile

  31. Added plotting of 2D trajectories

  32. Removed unsupported axis orders of EulerJoint

  33. Added convenience functions to help with setting joint positions

  34. Added Frame class and auto-updating for forward kinematics

  35. Added Travis-CI build test for OSX

  36. Added specification of minimum dependency version

DART 4

Version 4.3.7 (2018-01-05)

  1. Updated DART 4.3 to be compatible with urdf 1.0/tinyxml2 6/flann 1.9.1

Version 4.3.6 (2016-04-16)

  1. Fixed duplicate entries in Skeleton::mBodyNodes causing segfault in destructor

Version 4.3.5 (2016-01-09)

  1. Fixed incorrect applying of joint constraint impulses (backported from 6.0.0)

Version 4.3.4 (2015-01-24)

  1. Fixed build issue with gtest on Mac

Version 4.3.3 (2015-01-23)

  1. Fixed joint Coulomb friction

Version 4.3.2 (2015-01-22)

  1. Fixed installation -- missing headers (utils/urdf, utils/sdf)

Version 4.3.1 (2015-01-21)

  1. Fixed API incompatibility introduced by dart-4.3.0

Version 4.3.0 (2015-01-19)

  1. Added name manager for efficient name look-up and unique naming
  2. Added all-inclusive header and namespace headers
  3. Added DegreeOfFreedom class for getting/setting data of individual generalized coordinates
  4. Added hybrid dynamics
  5. Added joint actuator types
  6. Added Coulomb joint friction
  7. Migrated to C++11
  8. Improved readability of CMake output messages
  9. Fixed const-correctneess of member functions
  10. Added handling use of 'package:/' in URDF

Version 4.2.1 (2015-01-07)

  1. Fixed version numbering of shared libraries in debian packages
  2. Fixed Jacobian and its derivatives of FreeJoint/BallJoint

Version 4.2.0 (2014-11-22)

  1. Added reset functions for Simulation and Recording class
  2. Added operational space control example
  3. Fixed misuse of Bullet collision shapes
  4. Fixed adjacent body pair check for Bullet collision detector
  5. Fixed incorrect computation of constraint impulse for BallJointConstraint and WeldJointContraint
  6. Improved generation of soft box shape for soft body

Version 4.1.1 (2014-07-17)

  1. Added ABI check script
  2. Fixed build issues on Linux
  3. Fixed build issues on Windows
  4. Fixed unintended warning messages

Version 4.1.0 (2014-07-02)

  1. Fixed bug in switching collision detectors
  2. Fixed kinematics and dynamics when a skeleton has multiple parent-less bodies
  3. Fixed issue on installing DART 4 alongside DART 3 on Linux
  4. Fixed warnings on gcc
  5. Renamed getDof() to getNumDofs()
  6. Added cylinder shape for soft body

Version 4.0.0 (2014-06-02)

  1. Added implicit joint spring force and damping force
  2. Added planar joint
  3. Added soft body dynamics
  4. Added computation of velocity and acceleration of COM
  5. Added bullet collision detector
  1. Improved performance of forward dynamics algorithm
  1. Improved dynamics API for Skeleton and Joint
  1. Improved constraint dynamics solver
  1. Improved calculation of equations of motion using Featherstone algorithm
  1. Improved optimizer interface and added nlopt solver
  1. Fixed self collision bug
  1. Fixed incorrect integration of BallJoint and FreeJoint

DART 3

Version 3.0 (2013-11-04)

  1. Removed Transformation classes. Their functionality is now included in joint classes.
  2. Added Featherstone algorithm. Can currently only be used without collision handling. The old algortihm is still present and used for that case.
  3. Removed kinematics namespace. Functionality is moved to dynamics classes.
  4. Added dart root namespace
  5. A lot of function and variable renames
  6. Added constraint namespace
  7. Added "common" namespace

DART 2

Version 2.6 (2013-09-07)

  1. Clean-up of build system:
  • Renamed DART_INCLUDEDIR to the standard-compliant DART_INCLUDE_DIRS in CMake files. Users need to adapt their CMake files for this change.
  • Users no longer need to call find_package(DARTExt) in the CMake files. A call to find_package(DART) also finds its dependencies now.
  • Allow user to overwrite installation prefix
  • Add possibility to include DART header files as '#include <dart/dynamics/Skeleton.h>' in addition to '#include <dynamics/Skeleton.h>'
  • Allow out-of-source builds
  1. URDF loader:
  • Major clean-up
  • Consider mesh scaling factor

Version 2.5 (2013-07-16)

  1. Replaced robotics::World with simulation::World
  2. Removed robotics::Robot
  3. Added simulation::SimWindow
  4. Some speed-up of Eigen calculations
  5. Added abstract trajectory interface
  6. ConstraintDynamics handles contact, joint limit and other constraint forces simultaneously
  7. Improved Lemke algorithm for solving LCP
  8. Renamed skeletonDynamics::getQDotVector() to getPoseVelocity()
  9. Added abstract CollisionDetector interface allowing for multiple different collision detector implementations.
  10. Created math namespace
  11. Added System class as base class to Skeleton and Joint
  12. URDF loader: Removed ability to load nonstandard URDF files with an object tag
  13. Added support for multiple shapes per BodyNode
  14. Made urdfdom a dependency instead of including it in the DART source
  15. Added function to CollisionDetector to let user check a specific pair of BodyNodes for collision

Version 2.4 (2013-03-05)

  1. Mass and inertia are no longer stored in Shape but in BodyNode.
  2. Different shapes for collision and visualization (not just different meshes)
  3. Shapes are no longer centered at the COM but can be transformed independently relative to the link frame.
  4. Improved URDF support
  • Support for non-mesh shapes
  • Does not create dummy root nodes anymore
  • Support for continuous joints
  • Support for arbitrary joint axes for revolute joints (but not for prismatic joints) instead of only axis-aligned joint axes
  • Support for relative mesh paths even if the robot and world URDF files are in different directories
  • All supported joint types can be root joints
  1. Clean-up of the Robot class
  2. Removed Object class
  3. More robust build and installation process on Linux