## What's Changed * Add ability to disable packages in external build via cmake by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/464 * Feature/fix naming by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/466 * Fix qpOASES Lapack naming conflict by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/467 * improve memory allocations by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/468 * Remove PairHash (replaced by implicit std::hash in tesseract_common) by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/470 * Add yaml conversions and related tests by @marrts in https://github.com/tesseract-robotics/trajopt/pull/469 * Fix benchmarks by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/471 * Fix bounds problem by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/472 * Add required OSQP version to find_package by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/473 * Update OSQP dependency to v1.0.0 and OSQPEigen to v0.10.3 by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/474 * Update conda CI to run on windows-2022 by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/476 * Minor fixes by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/477 **Full Changelog**: https://github.com/tesseract-robotics/trajopt/compare/0.31.0...0.32.0