6.2.0 (2021-07-23)

• Performance improvements (#741)
• FDDP: Fix allocation
• Use in-place StateDelta
• Contributors: Wolfgang Merkt

6.1.1 (2021-04-05)

6.1.0 (2021-03-15)

• Clang support and bug fixes (#731)
• Upgrade clang format from v3.9 to v6.0 (#730)
• Contributors: Wolfgang Merkt

6.0.2 (2020-11-23)

6.0.1 (2020-11-17)

6.0.0 (2020-11-08)

• FDDP: More verbosity on NaN
• Use state transition function + derivative in place of hard-coded scheme
• BoxFDDP: Set default BoxQP options
• (Box)FDDP: Add GradientTolerance convergence criterion
• Add steplength and regularization evolution
• CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
• FDDP: Only allocate if T changed
• FDDP: Use const-ref for warm-start
• Expose all internal data via const-ref getter
• Switch FDDP to LDLT decomposition
• Only contract with 2nd order derivatives if DynamicsSolver has them
• Pre-allocate, go over equations, convert to trajectory pre-allocation
• ControlLimitedDDPSolver: Clean-up Qxx, Qxu, Quu computation
• Move costs from Solver to Problem
• ControlLimitedDDPSolver: Add parameter for switching different BoxQP solvers
• Introduce thresholds for increase/decrease of regularization
• ControlLimitedDDPSolver: Add state regularization
• Re-use already allocated variables. Fixes #678
• Control-limited DDP: Use fixed, low regularization for BoxQP
• FDDP: Remove exception in ForwardPass
• FDDP: Replace exception to adapt regularisation
• FDDP: Use copy instead of reference to reset shooting nodes
• BoxDDP: Clamp in forward-pass
• Refactor FDDP to Abstract + Implementation
• Fix NX => NDX bugs
• Add BoxFDDP
• Correctly resize matrices, speed up AnalyticDDPSolver::BackwardPass by using LLT
• Use DynamicsSolver::ComputeDerivatives
• Add FeasibilityDrivenDDPSolver
• Contributors: Traiko Dinev, 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)

• Add exotica_ddp_solver
• Contributors: Traiko Dinev, Wolfgang Merkt