ros-melodic-towr (1.4.1-0bionic) bionic; urgency=high

  * Merge pull request (#56 <https://github.com/ethz-adrl/towr/issues/56>) from ethz-adrl/expose-params
  * add explanation for assert in phase_durations
  * Merge branch 'sweetie-bot-project-feat/access-optimization-parameteres' into expose-params
  * Optimize GetPhaseDurations(). Remove unnecessary GetNormalizedPhaseDurations().
  * Make GaitGenerator::SetGaits() method public.
  * Move default parameter values to header.
  * Use pair<double,double> instead of array<double,2> to store bounds.
  * Expose contstraints and costs field to user. Remove unnecessary private functions.
  * Add missing underscore postfix for bounds_final variables.
  * Take into account weights of the costs. (#51 <https://github.com/ethz-adrl/towr/issues/51>)
  * Contributors: Alexander Winkler, Mathieu Geisert, awinkler, disRecord

 -- Alexander W. Winkler <alexander.w.winkler@gmail.com>  Thu, 04 Apr 2019 22:00:00 -0000

ros-melodic-towr (1.4.0-0bionic) bionic; urgency=high

  * Simplify extension / adding own formulation (#38 <https://github.com/ethz-adrl/towr/issues/38>)
  * Facilitate towr_ros user extension (#34 <https://github.com/ethz-adrl/towr/issues/34>)
  * Greatly simplify phase node formulations (#33 <https://github.com/ethz-adrl/towr/issues/33>)
  * keep overview in github readme, not separated into doxygen & github
  * rename CD to SRBD and improve documentation
  * rename nodes to node variables
  * Contributors: Alexander Winkler

 -- Alexander W. Winkler <alexander.w.winkler@gmail.com>  Sun, 29 Jul 2018 22:00:00 -0000

ros-melodic-towr (1.3.2-0bionic) bionic; urgency=high

  * adapt to more generic ifopt solver interface.
  * Improve doxygen  (#26 <https://github.com/ethz-adrl/towr/issues/26>)
    * add overview on main doxygen landing
    * add doxygen groups to variables/constraints/costs
    * add parameter explanation
  * Contributors: Alexander Winkler

 -- Alexander W. Winkler <alexander.w.winkler@gmail.com>  Mon, 16 Jul 2018 22:00:00 -0000

ros-melodic-towr (1.3.1-0bionic) bionic; urgency=high

  * Improve API (#23 <https://github.com/ethz-adrl/towr/issues/23>)
  * Remove redundant total time (duration set by endeffectors)
  * Contributors: Alexander Winkler

 -- Alexander W. Winkler <winklera@ethz.ch>  Mon, 09 Jul 2018 22:00:00 -0000

ros-melodic-towr (1.3.0-0bionic) bionic; urgency=high

  * add sample gaits for mono-, bi- and quadruped
  * Contributors: Alexander Winkler

 -- Alexander W. Winkler <winklera@ethz.ch>  Fri, 06 Jul 2018 22:00:00 -0000

ros-melodic-towr (1.2.2-0bionic) bionic; urgency=high

  * remove controller specifc code from towr_ros
  * moved height map from towr_ros to towr
  * moved robots models and gait generator from towr_ros to towr
  * move dynamic and kinematic models from towr_ros -> towr
  * remove all catkin macros from towr::CMakeLists.txt
  * Contributors: Alexander Winkler

 -- Alexander W. Winkler <winklera@ethz.ch>  Mon, 02 Jul 2018 22:00:00 -0000

ros-melodic-towr (1.2.1-0bionic) bionic; urgency=high

  * set parameters for hyq and terrains examples
  * rename constraints and variables for more consistency
  * renamed main library (towr_core -> towr) and removed ros meta package
  * Contributors: Alexander Winkler

 -- Alexander W. Winkler <winklera@ethz.ch>  Fri, 29 Jun 2018 22:00:00 -0000

ros-melodic-towr (1.2.0-0bionic) bionic; urgency=high

  * allow building with pure cmake (catkin optional)
  * adapt to version 2.0.0 of ifopt (#17 <https://github.com/ethz-adrl/ifopt/pull/17>)
  * add derivative of system dynamics w.r.t angular orientation
  * Improve centroidal dynamics model and add continuous base acceleration constraint
  * Fix final base and footholds through constraint
  * Separate ifopt solver from towr and towr to header+source file
  * Contributors: Alexander Winkler

 -- Alexander W. Winkler <winklera@ethz.ch>  Sun, 24 Jun 2018 22:00:00 -0000

ros-melodic-towr (1.1.0-0bionic) bionic; urgency=high

  * add metapackage towr and move algorithm to towr_core
  * create separate ros independent example package "towr_ros"
  * replaced ros-keyboard dependency with ncurses
  * moved all robot specific model/gait generators out of towr -> towr_ros
  * use only one unified represenatation for nodes and states
  * remove xpp states dependency
  * added base_nodes class that derives from node_variables
  * add observer pattern (spline observes node_values and contact_schedule)
  * added spline_holder to not always have to reconstruct from variables
  * separated spline and node values
  * adapted to changed ifopt namespace (opt -> ifopt)
  * removed unused variables in polynomial
  * renamed pkg from xpp_opt to towr
  * Contributors: Alexander Winkler

 -- Alexander W. Winkler <winklera@ethz.ch>  Mon, 05 Feb 2018 23:00:00 -0000

ros-melodic-towr (1.0.0-0bionic) bionic; urgency=high



 -- Alexander W. Winkler <winklera@ethz.ch>  Mon, 18 Sep 2017 22:00:00 -0000


