1.4.1 (2019-04-05)

• Merge pull request (#56) from ethz-adrl/expose-params
• add explanation for assert in phase_durations
• Merge branch 'sweetie-bot-project-feat/access-optimization-parameteres' into expose-params
• Optimize GetPhaseDurations(). Remove unnecessary GetNormalizedPhaseDurations().
• Make GaitGenerator::SetGaits() method public.
• Move default parameter values to header.
• Use pair<double,double> instead of array<double,2> to store bounds.
• Expose contstraints and costs field to user. Remove unnecessary private functions.
• Add missing underscore postfix for bounds_final variables.
• Take into account weights of the costs. (#51)
• Contributors: Alexander Winkler, Mathieu Geisert, awinkler, disRecord

1.4.0 (2018-07-30)

• Simplify extension / adding own formulation (#38)
• Facilitate towr_ros user extension (#34)
• Greatly simplify phase node formulations (#33)
• keep overview in github readme, not separated into doxygen & github
• rename CD to SRBD and improve documentation
• rename nodes to node variables
• Contributors: Alexander Winkler

1.3.2 (2018-07-17)

• adapt to more generic ifopt solver interface.
• Improve doxygen (#26) * add overview on main doxygen landing * add doxygen groups to variables/constraints/costs * add parameter explanation
• Contributors: Alexander Winkler

1.3.1 (2018-07-10)

• Improve API (#23)
• Remove redundant total time (duration set by endeffectors)
• Contributors: Alexander Winkler

1.3.0 (2018-07-07)

• add sample gaits for mono-, bi- and quadruped
• Contributors: Alexander Winkler

1.2.2 (2018-07-03)

• remove controller specifc code from towr_ros
• moved height map from towr_ros to towr
• moved robots models and gait generator from towr_ros to towr
• move dynamic and kinematic models from towr_ros -> towr
• remove all catkin macros from towr::CMakeLists.txt
• Contributors: Alexander Winkler

1.2.1 (2018-06-30)

• set parameters for hyq and terrains examples
• rename constraints and variables for more consistency
• renamed main library (towr_core -> towr) and removed ros meta package
• Contributors: Alexander Winkler

1.2.0 (2018-06-25)

• allow building with pure cmake (catkin optional)
• adapt to version 2.0.0 of ifopt (#17)
• add derivative of system dynamics w.r.t angular orientation
• Improve centroidal dynamics model and add continuous base acceleration constraint
• Fix final base and footholds through constraint
• Separate ifopt solver from towr and towr to header+source file
• Contributors: Alexander Winkler

1.1.0 (2018-02-06)

• add metapackage towr and move algorithm to towr_core
• create separate ros independent example package "towr_ros"
• replaced ros-keyboard dependency with ncurses
• moved all robot specific model/gait generators out of towr -> towr_ros
• use only one unified represenatation for nodes and states
• remove xpp states dependency
• added base_nodes class that derives from node_variables
• add observer pattern (spline observes node_values and contact_schedule)
• added spline_holder to not always have to reconstruct from variables
• separated spline and node values
• adapted to changed ifopt namespace (opt -> ifopt)
• removed unused variables in polynomial
• renamed pkg from xpp_opt to towr
• Contributors: Alexander Winkler

1.0.0 (2017-09-19)