From 8c0f5d70757d9abbdcad634e730017d01d07a2b3 Mon Sep 17 00:00:00 2001 From: ManifoldFR Date: Fri, 1 Nov 2024 21:47:50 +0100 Subject: [PATCH] Update CHANGELOG --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index e4c9e6954..01a7db9cf 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -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