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