What's Changed

• Switch to using Cereal for serialization by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/481
• Fix run cpack script by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/482
• Remove old console bridge cmake target logic by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/483
• Add dependabot by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/484
• Bump actions/upload-artifact from 4 to 5 by @dependabot[bot] in https://github.com/tesseract-robotics/trajopt/pull/485
• Bump tesseract-robotics/colcon-action from 11 to 13 by @dependabot[bot] in https://github.com/tesseract-robotics/trajopt/pull/489
• Bump docker/build-push-action from 5 to 6 by @dependabot[bot] in https://github.com/tesseract-robotics/trajopt/pull/488
• Bump actions/checkout from 1 to 6 by @dependabot[bot] in https://github.com/tesseract-robotics/trajopt/pull/487
• Bump johnwason/vcpkg-action from 6 to 7 by @dependabot[bot] in https://github.com/tesseract-robotics/trajopt/pull/486
• Cleanup doxygen file headers by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/490
• Bump actions/setup-python from 4 to 6 by @dependabot[bot] in https://github.com/tesseract-robotics/trajopt/pull/491
• Update colcon action to v14 by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/492
• Add nodes variable set by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/438
• Bump actions/upload-artifact from 5 to 6 by @dependabot[bot] in https://github.com/tesseract-robotics/trajopt/pull/494
• Optimize costs and constraints by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/493
• Update to a single merit coeff per constraint set like the original trajopt by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/496
• Remove dependency on Ifopt repository by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/497
• Remove vcs import command from Dockerfile by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/498
• Fix jerk smoothing: correct loop bounds and formula inconsistency by @Copilot in https://github.com/tesseract-robotics/trajopt/pull/499
• Add dynamic constraint support by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/495
• Check trajectory size in joint velocity, acceleration and jerk constraints and costs by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/501
• Fix Composite getJacobian by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/502
• Update readme to explain how constraint/cost coefficients are leveraged internally by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/503
• Remove unused PCL dependencies by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/508
• Copilot review changes by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/504
• Simplify trajopt_ifopt by removing use of CompositeDifferentiable by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/509
• Cleanup variable names in trajopt qp problem by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/510
• Optimize trajopt ifopt qp problem by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/511
• Rename trajopt qp problem member variables by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/512
• Add getNonZeros to trajopt_ifopt Differentiable interface by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/515
• Add ComponentInfoType by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/516
• Simplify TrajOptQPProblem convexify by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/517
• Consolidate TrajOptQPProblem convexify by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/518
• Update fillJacobianBlock so out param is first by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/519
• Add range bound support to cartesian position constraint by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/520
• Update enum in trajopt_ifopt and trajopt_sqp to follow google style guide by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/521
• Verify bounds are correct based on penalty type in debug by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/522
• Update Problem and QP Problem interface by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/523
• Reduce allocations by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/525
• Leverage sparse matrix insert back for collision jacobian population by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/526
• Reduce memory allocation in trajopt_ifopt and trajopt_sqp by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/527
• Add back collision data caching to trajopt ifopt by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/528
• Update cache to also be a pool of object to retrieve unused objects by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/530
• Remove CompositeVariables to simplify trajopt_ifopt codebase by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/531
• Fix acceleration and jerk minimum number of variables by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/532
• Update trajopt_ifopt cartesian pose constraint to align with legacy by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/533
• Do not add compiler option -mno-avx for arm or if processor is unknown and do not use BPMPD by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/534
• Reduce memory allocations with sqp affine and quad expressions by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/535
• Disable ifopt warmstart by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/536
• Avoid prune in ifopt code because it changes sparsity by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/537
• Update ifopt trust region solver to attempt inplace update of qp solver by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/538
• Change name of OsqpEigen Ext package, as it collided with OsqpEigen proper by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/539
• Fix bugs and performance issues by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/540
• Update README.md by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/541

New Contributors

• @dependabot[bot] made their first contribution in https://github.com/tesseract-robotics/trajopt/pull/485
• @Copilot made their first contribution in https://github.com/tesseract-robotics/trajopt/pull/499

Full Changelog: https://github.com/tesseract-robotics/trajopt/compare/0.33.0...0.34.4