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VERSIONS
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VERSIONS
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##
## This file is part of qpOASES.
##
## qpOASES -- An Implementation of the Online Active Set Strategy.
## Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
## Christian Kirches et al. All rights reserved.
##
## qpOASES is free software; you can redistribute it and/or
## modify it under the terms of the GNU Lesser General Public
## License as published by the Free Software Foundation; either
## version 2.1 of the License, or (at your option) any later version.
##
## qpOASES is distributed in the hope that it will be useful,
## but WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
## See the GNU Lesser General Public License for more details.
##
## You should have received a copy of the GNU Lesser General Public
## License along with qpOASES; if not, write to the Free Software
## Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
##
VERSION HISTORY
===============
3.2 (released on 1st September 2015, last updated on 26th April 2017):
----------------------------------------------------------------------
+ Addition of SQProblemSchur class implementing Schur complement approach
for sparse QP problems
+ Introduction of data types int_t and uint_t for integer-valued numbers
+ Minor source code clean-up and bugfixes
3.1 (released on 11th February 2015):
-------------------------------------
+ Addition of C interface
+ Further improved Matlab, Simulink, octave and Python interfaces
+ Possibility to provide pre-computed Cholesky factor of Hessian matrix
+ Source code clean-up and bugfixes
3.0 (released on 29th July 2014, last updated on 17th December 2014):
---------------------------------------------------------------------
+ Addition of unit testing
+ Several bugfixes
3.0beta (released on 16th August 2011, last updated on 4th April 2014):
-----------------------------------------------------------------------
+ Improved ratio tests and termination check for increased reliabilty
+ Introduction of iterative refinement in step determination and
drift correction to handle ill-conditioned QPs
+ Introduction of ramping strategy to handle degenerated QPs
+ Addition of far bounds and flipping bounds strategy to handle
semi-definite and unbounded QPs more reliably
+ Limited support of sparse QP matrices (also in Matlab interface)
+ Optional linking of LAPACK/BLAS for linear algebra operations
+ Addition of a number of algorithmic options, summarised in an option struct
+ Improved Matlab interface
+ Python interface added
+ Several bugfixes
2.0 (released on 10th February 2009, last updated on 7th December 2009):
------------------------------------------------------------------------
+ Implementation of regularisation scheme for treating QPs with
semi-definite Hessians
+ Addition of convenience functionality for Bounds and Constraints
objects for specifying guessed active sets
+ Allows to specify a CPU time in addition to an iteration limit
+ Improved efficiency for QPs comprising many constraints
+ Source code cleanup and bugfixing
1.3 (released on 2nd June 2008, last updated on 13th August 2008):
------------------------------------------------------------------
+ Implementation of "initialised homotopy" concept
+ Addition of the SolutionAnalysis class
+ Utility functions for solving test problems in OQP format added
+ Flexibility of Matlab(R) interface enhanced
+ Major source code cleanup
(Attention: a few class names and calling interfaces have changed!)
1.2 (released on 9th October 2007):
-----------------------------------
+ Special treatment of diagonal Hessians
+ Improved infeasibility detection
+ Further improved Matlab(R) interface
+ Extended Simulink(R) interface
+ scilab interface added
+ Code cleanup and several bugfixes
1.1 (released on 8th July 2007):
--------------------------------
+ Implementation of the QProblemB class
+ Basic implementation of the SQProblem class
+ Improved Matlab(R) interface
+ Enabling/Disabling of constraints introduced
+ Several bugfixes
1.0 (released on 17th April 2007):
----------------------------------
Initial release.
##
## end of file
##