6.2.0 (2021-07-23)

• Use clang for Pinocchio dynamics solver (#746)
• Contributors: Wolfgang Merkt

6.1.1 (2021-04-05)

• Reduce compilation time and required memory
• Contributors: Wolfgang Merkt

6.1.0 (2021-03-15)

6.0.2 (2020-11-23)

• Split derivatives into separate compile units to reduce memory consumption (7.6 GB peak to 6.1 GB peak) (#729)
• Contributors: Wolfgang Merkt

6.0.1 (2020-11-17)

6.0.0 (2020-11-08)

• Add state transition function, derivative.
• Support explicit Euler and semi-implicit Euler integration schemes
• CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
• Fix Pinocchio packaging (for later versions)
• Add dynamics solver with gravity compensation
• Fix analytic derivatives and remove memory allocation during the computation
• Contributors: Wolfgang Merkt

5.1.3 (2020-02-13)

5.1.2 (2020-02-10)

5.1.1 (2020-02-10)

5.1.0 (2020-01-31)

• Added exotica_pinocchio_dynamics_solver