v0.10.0

[ManifoldFR]

What's Changed

• Change from deprecated ConstraintSetBase<T> to ConstraintSetTpl<T> by @ManifoldFR in Change from deprecated ConstraintSetBase<T> to ConstraintSetTpl<T> #233
• Add a multibody friction cone cost, rename FrictionConeResidual to CentroidalFrictionConeResidual by @edantec in Add a multibody friction cone cost, rename FrictionConeResidual to CentroidalFrictionConeResidual #234
• Add gravity compensation residual by @ManifoldFR in Add gravity compensation residual #235
• Add pixi support by @jorisv in Add pixi support #240
• Fixes to ProxDDP by @ManifoldFR in Fixes to ProxDDP #242
• Change linear friction cone to ice cream cone by @edantec in Change linear friction cone to ice cream cone #238
• topic/gar/devel by @ManifoldFR in topic/gar/devel #236
• Update pixi lockfile by @update-pixi-lockfile in Update pixi lockfile #245
• Fix build instruction by @jorisv in Fix build instruction #249
• Fully support building aligator without Pinocchio support (including without proxsuite-nlp Pinocchio support) by @ManifoldFR in Fully support building aligator without Pinocchio support (including without proxsuite-nlp Pinocchio support) #250
• Switch to nonmonotone linesearch by @ManifoldFR in Switch to nonmonotone linesearch #244

New Contributors

• @update-pixi-lockfile made their first contribution in Update pixi lockfile #245

Full Changelog: v0.9.0...v0.10.0

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This discussion was created from the release v0.10.0.

[Wayne-Z]

memo: In example/centroidal.py, aligator.FrictionConeResidual() should be synchronised to aligator.CentroidalxFrictionConeResidual()

[ManifoldFR]

We actually ended up fixing this in 1996f06, thanks !