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Update CHANGELOG
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ManifoldFR committed Nov 1, 2024
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Expand Up @@ -12,9 +12,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
- Add a multibody friction cone cost ([#234](https://github.com/Simple-Robotics/aligator/pull/234))
- Add a `GravityCompensationResidual`, modelling $r(x,u) = Bu - G(q)$ ([#235](https://github.com/Simple-Robotics/aligator/pull/235))
- Add Pixi support ([#240](https://github.com/Simple-Robotics/aligator/pull/240))
- Added a nonmonotone linesearch procedure ([#244](https://github.com/Simple-Robotics/aligator/pull/244))

### Changed

- The minimum required version of proxsuite-nlp is now 0.10.0 ([#244](https://github.com/Simple-Robotics/aligator/pull/244))
- `SolverProxDDP`: add temporary vectors for linesearch
- `SolverProxDDP`: remove exceptions from `computeMultipliers()`, return a bool flag
- HistoryCallback: take solver instance as argument
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