All Versions
40
Latest Version
Avg Release Cycle
101 days
Latest Release
1579 days ago

Changelog History
Page 4

  • v4.3.0 Changes

    January 19, 2015
    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

  • v4.2.1 Changes

    January 07, 2015

    📦 1. Fixed version numbering of shared libraries in debian packages * Pull request #286 🛠 1. Fixed Jacobian and its derivatives of FreeJoint/BallJoint * Pull request #284

  • v4.2.0 Changes

    November 22, 2014
    1. Added reset functions for Simulation and Recording class
    2. Added operational space control example
    3. Improved generation of soft box shape for soft body

  • v4.1.1 Changes

    July 17, 2014
    1. Added ABI check script

  • v4.1.0 Changes

    July 02, 2014

    🛠 1. Fixed bug in switching collision detectors * Issue #127 * Pull request #195 🛠 1. Fixed kinematics and dynamics when a skeleton has multiple parent-less bodies * Pull request #196 🐧 1. Fixed issue on installing DART 4 alongside DART 3 on Linux * Issue #122 * Pull request #203 ⚠ 1. Fixed warnings on gcc * Pull request #206

    1. Renamed getDof() to getNumDofs()
    2. Added cylinder shape for soft body

  • v4.0.0 Changes

    June 02, 2014
    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
    6. Improved dynamics API for Skeleton and Joint
    7. Improved constraint dynamics solver
    8. Improved calculation of equations of motion using Featherstone algorithm

  • v3.0 Changes

    November 04, 2013

    🚚 1. Removed Transformation classes. Their functionality is now included in joint classes.

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

  • v2.6 Changes

    September 07, 2013

    👷 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

  • v2.5 Changes

    July 16, 2013
    1. Replaced robotics::World with simulation::World 🚚 1. Removed robotics::Robot
    2. Added simulation::SimWindow
    3. Some speed-up of Eigen calculations
    4. Added abstract trajectory interface
    5. ConstraintDynamics handles contact, joint limit and other constraint forces simultaneously
    6. Improved Lemke algorithm for solving LCP
    7. Renamed skeletonDynamics::getQDotVector() to getPoseVelocity()
    8. Added abstract CollisionDetector interface allowing for multiple different collision detector implementations.
    9. Created math namespace
    10. Added System class as base class to Skeleton and Joint 🚚 1. URDF loader: Removed ability to load nonstandard URDF files with an object tag 👍 1. Added support for multiple shapes per BodyNode
    11. Made urdfdom a dependency instead of including it in the DART source
    12. Added function to CollisionDetector to let user check a specific pair of BodyNodes for collision

  • v2.4 Changes

    March 05, 2013
    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. 👍 1. 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
    4. Clean-up of the Robot class 🚚 1. Removed Object class 🐧 1. More robust build and installation process on Linux