Squashed 'third_party/ct/' content from commit 0048d02
Change-Id: Ia7e5360cbb414f92ce4f118bd9613ea23597db52
git-subtree-dir: third_party/ct
git-subtree-split: 0048d027531b6cf1ea730da17b68a0b7ef9070b1
diff --git a/ct_doc/doc/changelog.dox b/ct_doc/doc/changelog.dox
new file mode 100644
index 0000000..dbbe829
--- /dev/null
+++ b/ct_doc/doc/changelog.dox
@@ -0,0 +1,32 @@
+/*!
+
+\page changelog Change Log
+@tableofcontents
+
+For a complete list of changes, we encourage you to check out our git repository at https://bitbucket.org/adrlab/ct
+
+\section cl_v21 Version 2.1
+- added (in)equality constrained linear-quadratic optimal control problems
+- refactored HPIPM interface (HPIPM is a high-performance interior-point QP solver)
+- changed from pure state and state-input constraints to box constraints and general
+inequality constraints in optimal control problems
+- provide general in-equality constrained versions of iLQR, GNMS and their hybrid variants.
+- minor improvements to NLOCBackends
+
+\section cl_v2 Version 2.0
+Features
+- added GNMS algorithm
+- type simplifications
+- explicit template instantiation for faster compilation speed
+- improved interfaces for SNOPT/IPOPT
+- several speed improvements
+- added HPIPM interface
+- improved Auto-Diff JIT and code-generation support
+- Constraints module
+
+
+\section cl_v1 Version 1.0
+- initial release
+
+
+*/