diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8b5c042f..7c54c04b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 
-project(ruckig VERSION 0.3.3 LANGUAGES CXX)
+project(ruckig VERSION 0.4.0 LANGUAGES CXX)
 
 
 list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
diff --git a/doc/Doxyfile b/doc/Doxyfile
index 19e3670d..4b949da4 100644
--- a/doc/Doxyfile
+++ b/doc/Doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Ruckig"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 0.3.3
+PROJECT_NUMBER         = 0.4.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/package.xml b/package.xml
index 4a231226..80ad87ca 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>ruckig</name>
-  <version>0.3.3</version>
+  <version>0.4.0</version>
   <description>Online Trajectory Generation. Real-time. Jerk-constrained. Time-optimal.</description>
   <author>Lars Berscheid</author>
   <maintainer email="lars.berscheid@kit.edu">Lars Berscheid</maintainer>
diff --git a/setup.py b/setup.py
index cf5a2d6c..ca120587 100644
--- a/setup.py
+++ b/setup.py
@@ -69,7 +69,7 @@ def build_extension(self, ext):
 
 setup(
     name='ruckig',
-    version='0.3.3',
+    version='0.4.0',
     description='Online Trajectory Generation. Real-time. Jerk-constrained. Time-optimal.',
     long_description=long_description,
     long_description_content_type='text/markdown',