From d72c37fe5603fdd12bff673501c5d6288c1fac92 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Mon, 20 Nov 2023 17:29:53 +0100 Subject: [PATCH] Update CHANGELOG.md Co-authored-by: Stefano Dafarra --- CHANGELOG.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 665d5127ca..0dc01658ed 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -7,7 +7,7 @@ All notable changes to this project are documented in this file. ### Changed - Restructure of the `CentroidalMPC` class in `ReducedModelControllers` component. Specifically, the `CentroidalMPC` now provides a contact phase list instead of indicating the next active contact. Additionally, users can now switch between `ipopt` and `sqpmethod` to solve the optimization problem. Furthermore, the update allows for setting the warm-start for the non-linear solver. (https://github.com/ami-iit/bipedal-locomotion-framework/pull/766) -- Restructured the swing foot planner to handler corners case that came out while testing DNN-MPC integration (https://github.com/ami-iit/bipedal-locomotion-framework/pull/765) +- Restructured the swing foot planner to handle corners case that came out while testing DNN-MPC integration (https://github.com/ami-iit/bipedal-locomotion-framework/pull/765) - Avoid returning internal references for `get_next_contact` `get_present_contact` and `get_active_contact` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/765) ### Fixed