DART 5.0.0

• Fixed aligned memory allocation with Eigen objects
• Added some missing API for DegreeOfFreedom
• Replaced logMaps with Eigen::AngleAxisd
• Improved FCL collision detector
• Removed deprecated API and suppressed warnings
• Added use of OpenGL's multisample anti-aliasing
• Added computation of differences of generalized coordinates
• Added deprecated and force-linline definitions for clang
• Eradicated memory leaks and maked classes copy-safe and clonable
• Improved PlaneShape constructors
• Added appveyor options for parallel build and detailed log
• Improved robustness and package handling for URDF parsing
• Fixed bug in BodyNode::_updateBodyJacobianSpatialDeriv()
• Added alpha channel and Color functions
• Added Jacobian getters to Skeleton
• Added ArrowShape for visualizing arrows
• Fixed matrix dimension bug in operationalSpaceControl app
• Added build type definitions
• Added Signal class
• Added LineSegmentShape for visualizing line segments
• Fixed segfault in SoftSdfParser
• Added subscriptions for destructions and notifications
• Added NloptSolver::[get/set]NumMaxEvaluations()
• Added support of Eigen::VectorXd in parser
• Added Skeleton::getNumJoints()
• Fixed bug in DARTCollide for sphere-sphere collision
• Fixed naming issues for Skeletons in World
• Added PlanarJoint support for URDF loader
• Fixed rotation of the inertia reference frame for URDF loader
• Fixed bug in loading WorldFile
• Added plotting of 2D trajectories
• Removed unsupported axis orders of EulerJoint
• Added convenience functions to help with setting joint positions
• Added Frame class and auto-updating for forward kinematics
• Added Travis-CI build test for OSX
• Added specification of minimum dependency version