0.4.0

This release fixes several bugs, improves the build and portability (including adding support for finding a specific version of this package), improves documentation, and adds helper types to ease the migration to c++11 and away from boost. The next major version will switch to using c++11 types and eliminate the dependency on boost.

Bug fixes:

• #10 Fixes from sdformat
• #11: fixes degeneracies when doing atan2(0,0)
• #12: Reset JointMimic pointer on clear
• #19: Fix handling rpy with pitch equal to +/-M_PI/2

Build / portability:

• #4: fix INCLUDE_DIRS variable when path contains spaces
• #7: Fixes for compiling in Windows
• #14: Generate temp file in build folder
• #17: Install cmake version config file

Documentation:

• #5: Improved README and explained how to wget package.xml
• #8: Fixed file name for proper markup formatting

Ease migration to c++11

• #13: Create typedefs for shared pointers
• #15: sensor.h: remove boost smart pointer includes
• #16: Pointer typedefs for simple geometry and urdf::*_pointer_cast function

Contributors: Dave Coleman, Dirk Thomas, Silvio Traversaro, Steve Peters, Vincent Rabaud