Do I need a DAC for iPod?

I am not up with the latest HiFi standards. My last system was a McIntosh Integrated to Dynaudio speakers, using only a Rotel CD player. I sold the system years ago and I am now looking to buy a less expensive HiFi system. I will likely be buying B&W PM1's and a Roksan Caspian Integrated Amp.

My whole music library now is on our Ipod's and iPad's. What do I need to get music from them? Do I need a DAC? I dont know anything about them. They sound like those line conditioners, whatever they are....they just seem to "clean" the electrical feed to the amp (which I will not be planning on buying).

Thanks for your help
Get the Apple Camera kit for $29.00 and using it as a line out to an external DAC. Done deal. No need for Wadia or Cambridge Audio.
Get Apple Music Converter for Mac to convert your all Apple music files, Audible books, and other audio files to MP3, FLAC, WAV, AAC, M4A and M4B and then you can transfer them to any device for playback with ease. This software costs $39.95 but you can get it from its Halloween Sales promotion at up to 50% off discount for only $19.95. 
To iPod music, if you are eager to play it on any non-Apple devices. Maybe you can try to use Apple Music Converter. Since all Apple music are combined with fairplay DRM protection, it can be played on Apple devices only. Now you can use this tool to remove DRM protection and convert music from M4P to MP3, AAC, M4A, M4B, WAV, FLAC, etc at faster speed with lossless quality. You can catch more info on Tuneskit