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Changelog.md

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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 Removed outdated packaging scripts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

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

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

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