ros-noetic-exotica-ddp-solver (6.2.0-1buster) buster; urgency=high

  * Performance improvements (#741 <https://github.com/ipab-slmc/exotica/issues/741>)
  * FDDP: Fix allocation
  * Use in-place StateDelta
  * Contributors: Wolfgang Merkt

 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Thu, 22 Jul 2021 23:00:00 -0000

ros-noetic-exotica-ddp-solver (6.1.1-1buster) buster; urgency=high



 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Sun, 04 Apr 2021 23:00:00 -0000

ros-noetic-exotica-ddp-solver (6.1.0-1buster) buster; urgency=high

  * Clang support and bug fixes (#731 <https://github.com/ipab-slmc/exotica/issues/731>)
  * Upgrade clang format from v3.9 to v6.0 (#730 <https://github.com/ipab-slmc/exotica/issues/730>)
  * Contributors: Wolfgang Merkt

 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Mon, 15 Mar 2021 00:00:00 -0000

ros-noetic-exotica-ddp-solver (6.0.2-1buster) buster; urgency=high



 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Mon, 23 Nov 2020 00:00:00 -0000

ros-noetic-exotica-ddp-solver (6.0.1-1buster) buster; urgency=high



 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Tue, 17 Nov 2020 00:00:00 -0000

ros-noetic-exotica-ddp-solver (6.0.0-1buster) buster; urgency=high

  * 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 <https://github.com/ipab-slmc/exotica/issues/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

 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Sun, 08 Nov 2020 00:00:00 -0000

ros-noetic-exotica-ddp-solver (5.1.3-1buster) buster; urgency=high



 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Thu, 13 Feb 2020 00:00:00 -0000

ros-noetic-exotica-ddp-solver (5.1.2-1buster) buster; urgency=high



 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Mon, 10 Feb 2020 00:00:00 -0000

ros-noetic-exotica-ddp-solver (5.1.1-1buster) buster; urgency=high



 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Mon, 10 Feb 2020 00:00:00 -0000

ros-noetic-exotica-ddp-solver (5.1.0-1buster) buster; urgency=high

  * Add exotica_ddp_solver
  * Contributors: Traiko Dinev, Wolfgang Merkt

 -- Traiko Dinev <traiko.dinev@ed.ac.uk>  Fri, 31 Jan 2020 00:00:00 -0000


