DART 6.7.1

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

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

• Utils

  • Fixed checking file existence in DartResourceRetriever: #1107

DART 6.6.1

• 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

• Collision detection

  • Added voxel grid map: #1076, #1083
  • Added heightmap support: #1069

DART 6.5.0

• 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

• 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

• Build system

  • Remove an undefined cmake macro/function: #1036

• ROS support

  • Tweaked package.xml for catkin support: #1027, #1029, #1031, #1032, #1033

DART 6.3.0

• 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 6.2.0

Release Highlights

Collision detection

• Added support of ODE collision detector: #861

GUI

• Added MotionBlurSimWindow: #840

You can find the complete list of changes in CHANGELOG.md.