« Changelog History


DART v2.5 Release Notes

Release Date: 2013-07-16 // almost 11 years ago
    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