| /*! |
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| \page changelog Change Log |
| @tableofcontents |
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| For a complete list of changes, we encourage you to check out our git repository at https://bitbucket.org/adrlab/ct |
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| \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 |
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| \section cl_v1 Version 1.0 |
| - initial release |
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| */ |