Change plan and log:

• Math
  • Add BSpline class (#300)
• Kinematics
  • [Done] Add Frame class and auto-updating for forward kinematics (#319)
  • Add Jacobian related API to Frame
    • For example, getSpatialJacobian(relativeTo, inCoordinatesOf)
• Collision
  • (Decouple dynamics from collision (dependency: kinematics <-- collision <-- dynamics))
  • (Improve built-in collision detector -- support primitive shapes, mesh, and deformable mesh)
  • Improve fcl collision detector -- merge fcl and fcl_mesh, support primitive shape collision, use broad-phase algorithm
  • (Add more primitive shapes (sphere, capsule, and cone))
• Renderer / GUI
  • [Done] Add the feature to plot 2D trajectories (#324)
  • OpenSceneGraph gui
• Utils
  • [Done] Fix a bug in loading WorldFile (#325)
  • Improve Skel parser
• API
  • Remove deprecated APIs in DART 4.x
  • Eradicating memory leaks & making classes copy-safe and clonable (#369)
• ETC
  • Drop dependency of tinyxml (used in urdf parser)
  • (Improve numerical accuracy)
  • Use code beautifier
  • Minor improvements: #335

Target Gazebo version will be 6.0 (release date: 2015-07-27)

Supported platforms (compilers)

• Ubuntu 14.04 LTS, 14.10, and 15.04
  • Require GCC 4.8 or greater
• Windows
  • Require Visual Studio 2013 or greater
  • (create additional repo that includes all the dependencies together)
• Mac OS X
  • Require Clang 3.3 or greater