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

DART 4.3.4

• Fixed build issue with gtest on Mac

DART 4.3.3

• Fixed joint Coulomb friction

DART 4.3.2

• Fixed installation -- missing headers (utils/urdf, utils/sdf)

DART 4.3.1

• Fixed API incompatibility introduced by dart-4.3.0

DART 4.3.0

• Added name manager for efficient name look-up and unique naming
• Added all-inclusive header and namespace headers
• Added DegreeOfFreedom class for getting/setting data of individual generalized coordinates
• Added hybrid dynamics
• Added joint actuator types
• Added Coulomb joint friction
• Migrated to C++11
• Improved readability of CMake output messages
• Fixed const-correctneess of member functions

DART 4.2.1

• Fixed version numbering of shared libraries in debian packages
• Fixed Jacobian and its derivatives of FreeJoint/BallJoint

DART 4.2.0

• Added reset functions for Simulation and Recording class
• Added operational space control example
• Fixed misuse of Bullet collision shapes
• Fixed adjacent body pair check for Bullet collision detector
• Fixed incorrect computation of constraint impulse for BallJointConstraint and WeldJointContraint
• Improved generation of soft box shape for soft body

DART 4.1.1

• Added ABI check script
• Fixed build issues on Linux
• Fixed build issues on Windows
• Fixed unintended warning messages

DART 4.1.0

• Fixed bug in switching collision detectors
• Fixed kinematics and dynamics when a skeleton has multiple parent-less bodies
• Fixed issue on installing DART 4 alongside DART 3 on Linux
• Fixed warnings on gcc
• Renamed getDof() to getNumDofs()
• Added cylinder shape for soft body