0.3.1

What's Changed

• Fix windows CI by @Levi-Armstrong in #292
• CPack by @marip8 in #290
• Build Failure with GUROBI support by @cpetersmeier in #296
• Fixes SparseView issue by @rjoomen in #297
• Fix jsoncpp link targets and sparseview issue by @rjoomen in #299

New Contributors

• @cpetersmeier made their first contribution in #296
• @rjoomen made their first contribution in #297

Full Changelog: 0.3.0...0.3.1

0.3.0

What's Changed

• Support storing sco::Optimizer::Callbacks in ProblemConstructionInfo class by @Levi-Armstrong in #291

Full Changelog: 0.2.5...0.3.0

0.2.5

What's Changed

• Patch OSQP build to fix target output name collision by @johnwason in #287
• Protect jsoncpp against multiple find_package() calls by @johnwason in #288

Full Changelog: 0.2.4...0.2.5

0.2.4

What's Changed

• Update tesseract joint trajectory by @Levi-Armstrong in #286

Full Changelog: 0.2.3...0.2.4

0.2.3

What's Changed

• Expose convex solver settings and set ospq adaptive_rho to default value by @Levi-Armstrong in #285

Full Changelog: 0.2.2...0.2.3

0.2.2

What's Changed

• Fix processInterpolatedCollisionResults cc_type for discrete continuous by @Levi-Armstrong in #283

Full Changelog: 0.2.1...0.2.2

0.2.1

What's Changed

• On final convex solver failure attempt set trust region to minimum by @Levi-Armstrong in #281

Full Changelog: 0.2.0...0.2.1

0.2.0

What's Changed

• Remove unused header by @mpowelson in #279
• Fix TrajOpt Ifopt convergence by @Levi-Armstrong in #278
• Add ContactManagerConfig inside CollisionCheckConfig by @mpowelson in #280

Full Changelog: 0.1.1...0.2.0

0.1.1

What's Changed

• TrajOpt timeout check constraint convergence and if satisfied report converged by @Levi-Armstrong in #276
• Add coeffs to Vel, Accel, and Jerk Ifopt constraint by @Levi-Armstrong in #277

Full Changelog: 0.1.0...0.1.1

0.1.0

What's Changed

• Fix submodule and trajopt_sco unit tests by @Levi-Armstrong in #1
• Add gh_pages for sphinx documentation by @Levi-Armstrong in #2
• Use CMAKE_CURRENT_SOURCE_DIR instead of CMAKE_SOURCE_DIR for catkin by @johnwason in #3
• Changed scaling from coefficients in CostFromErrFunc to be linear for all penalty types. by @reidchristopher in #5
• Update to use new tesseract contact managers by @Levi-Armstrong in #10
• Use isometry by @Levi-Armstrong in #11
• Jacobian Matrix Dimension Fix by @Jmeyer1292 in #14
• Statically Link BPMPD_CALLER Executable by @Jmeyer1292 in #19
• refractor out contact request by @Levi-Armstrong in #21
• Fixed copy-paste error in JointJerkCost::value by @arocchi in #25
• Add cmake install command by @Levi-Armstrong in #26
• Fix trajopt_utils install pattern by @Levi-Armstrong in #28
• Add libpcl-dev test depends to trajopt pacakge by @Levi-Armstrong in #30
• Fix missing depend by @Levi-Armstrong in #31
• File writing callback by @mpowelson in #20
• Add pr2_description test depend by @Levi-Armstrong in #32
• Updated Gurobi interface by @arocchi in #35
• Add Travis CI and make Gurobi not required by @Levi-Armstrong in #37
• Refactor naming of costs/constraints by @mpowelson in #29
• Add exprMult(AffExpr, AffExpr) by @mpowelson in #38
• Add EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro by @Levi-Armstrong in #42
• Remove the use of 'using namespace' by @Levi-Armstrong in #43
• Eigen alignment by @mpowelson in #44
• Joint cost updates by @mpowelson in #41
• Adds osqp and qpOASES solver interfaces by @arocchi in #40
• Update JointPos terms by @mpowelson in #47
• Remove the default target = 0 from joint cost/constraints and add default coeff = 1 by @mpowelson in #49
• Add additional compiler warning options by @Levi-Armstrong in #52
• Integrate time param - term type switch by @mpowelson in #50
• Add industrial_ci Clang Support by @Levi-Armstrong in #53
• Bug fixes for examples by @mpowelson in #73
• Allow failures in Travis Melodic by @mpowelson in #75
• Fix VHACD build, Test Warnings, and Clang Formatting by @Levi-Armstrong in #54
• Integrate time param by @mpowelson in #51
• Add pick_and_place_plan example by @mpowelson in #59
• pick_and_place example Improvements by @mpowelson in #89
• Add description of examples to readme by @mpowelson in #101
• Set OSQP verbosity to false by @mpowelson in #104
• Add pick and place example to install targets by @mpowelson in #103
• Fixes in gurobi interface by @mpowelson in #102
• Remove unused packages, Make Pure CMake, Upgrade to new version of Tesseract by @Levi-Armstrong in #108
• Clange format version 8 by @Levi-Armstrong in #109
• Update dependency to tesseract master branch by @Levi-Armstrong in #110
• Set CI clang version to 8 by @Levi-Armstrong in #111
• Fix macro in trajop_utils macros.h by @Levi-Armstrong in #112
• Fix clang warnings by @Levi-Armstrong in #113
• Fix calcCollision to filter link specific distance threshold by @Levi-Armstrong in #114
• Cherry pick bmagyar/trajopt_ros@094c493 by @Levi-Armstrong in #115
• Add assert in kinematic_terms for null kinematic link by @Levi-Armstrong in #117
• Add Plot Callback that doesn't require the problem by @mpowelson in #120
• Update DynamicCartPose to allow target link tcp by @Levi-Armstrong in #125
• Cherry pick John Wason's commit improving parsing json parameters. by @Levi-Armstrong in #126
• Add bash script to run clang format by @Levi-Armstrong in #127
• Feature/add log files by @Levi-Armstrong in #128
• Dynamic Cartesian Pose Error Calculator Update by @marip8 in #129
• Add jacobian calculation to the cartesian position costs by @mpowelson in #131
• Add OptStatus to TrajOptResult by @haudren in #132
• Disable AVX Instructions to Fix Eigen Alignment Issues by @mpowelson in #133
• Cartesian Pose Term Info from frame relative transform by @marip8 in #130
• Fix CartPoseTermInfo empty target by @Levi-Armstrong in #135
• Add missing implementation of MatrixOfVector::construct by @Levi-Armstrong in #137
• Orientation error calculation fix by @marip8 in #136
• ScalarOfVector, VectorOfVector, MatrixOfVector function signature by @Levi-Armstrong in #138
• Disable jacobian calculator for cart pose and dynamic cart pose by @Levi-Armstrong in #141
• Add user defined term info by @Levi-Armstrong in #142
• Use ResourceLocator instead of ResourceLocaterFn in tesseract unit tests by @johnwason in #143
• Update based on Clang-Tidy and Clazy by @Levi-Armstrong in #145
• Include header files for clang tidy by @Levi-Armstrong in #147
• Update test due to changes in tesseract checkTrajectory by @Levi-Armstrong in #149
• WIP: Inflate only the constraints that failed by @mpowelson in #148
• Avoid singularity cost by @marip8 in #150
• Enable continuous collision checking for moving to moving objects by @Levi-Armstrong in #152
• Update interface to OSQP 0.6.0 by @haudren in #146
• Remove the additional 0.04 added to contact distance threshold by @Levi-Armstrong in #153
• Change Default Solver by @mpowelson in #155
• Update casted collision evaluator to handle fixed start and end states by @Levi-Armstrong in #154
• Add trajopt_sco depend on osqp by @mpowelson in #156
• Change Eigen arguments that are passed by value to reference by @Levi-Armstrong in #159
• Update trajopt unit tests by @Levi-Armstrong in #162
• Add unique_ptrs A and P to osqp interface by @mpowelson in #157
• Add LP format printing to OSQP solver by @haudren in #161
• Fix issue in osqp interface to update osqp_data object with new A and P by @Levi-Armstrong in #164
• Improve efficiency of sparse matrix initialization by @schornakj in #163
• Add a safety margin buffer to collision evaluators by @schornakj in #160
• Add...