| Austin Schuh | 7400da0 | 2018-01-28 19:54:58 -0800 | [diff] [blame^] | 1 | /*! |
| 2 | |
| 3 | \page changelog Change Log |
| 4 | @tableofcontents |
| 5 | |
| 6 | For a complete list of changes, we encourage you to check out our git repository at https://bitbucket.org/adrlab/ct |
| 7 | |
| 8 | \section cl_v21 Version 2.1 |
| 9 | - added (in)equality constrained linear-quadratic optimal control problems |
| 10 | - refactored HPIPM interface (HPIPM is a high-performance interior-point QP solver) |
| 11 | - changed from pure state and state-input constraints to box constraints and general |
| 12 | inequality constraints in optimal control problems |
| 13 | - provide general in-equality constrained versions of iLQR, GNMS and their hybrid variants. |
| 14 | - minor improvements to NLOCBackends |
| 15 | |
| 16 | \section cl_v2 Version 2.0 |
| 17 | Features |
| 18 | - added GNMS algorithm |
| 19 | - type simplifications |
| 20 | - explicit template instantiation for faster compilation speed |
| 21 | - improved interfaces for SNOPT/IPOPT |
| 22 | - several speed improvements |
| 23 | - added HPIPM interface |
| 24 | - improved Auto-Diff JIT and code-generation support |
| 25 | - Constraints module |
| 26 | |
| 27 | |
| 28 | \section cl_v1 Version 1.0 |
| 29 | - initial release |
| 30 | |
| 31 | |
| 32 | */ |