v0.9.1

ConstrainedDynamics v0.9.1

Diff since v0.9.0

Merged pull requests:

• Fix linearization (#69) (@janbruedigam)

v0.9.0

ConstrainedDynamics v0.9.0

Diff since v0.8.0

Merged pull requests:

• Update (#67) (@janbruedigam)
• Contact (#68) (@janbruedigam)

v0.8.0

ConstrainedDynamics v0.8.0

Diff since v0.7.4

Merged pull requests:

• Higher order integration (#49) (@janbruedigam)
• Update ci to Julia 1.6 (#56) (@janbruedigam)
• Small factorization update (#57) (@janbruedigam)
• Fix input derivatives (#59) (@janbruedigam)
• Fix setvel mincoords (#64) (@janbruedigam)
• Rename UnitQuaternion to QuatRotation and fixes (#65) (@janbruedigam)

v0.7.4

ConstrainedDynamics v0.7.4

Diff since v0.7.3

Merged pull requests:

• Small updates 2 (#55) (@janbruedigam)

v0.7.3

ConstrainedDynamics v0.7.3

Diff since v0.7.2

Merged pull requests:

• Scaling for Meshes (#52) (@jfkunz)
• Added ball joint to urdf parser (#53) (@jfkunz)

v0.7.2

ConstrainedDynamics v0.7.2

Diff since v0.7.1

Merged pull requests:

• Fix zero dim matrix mulitply (#50) (@janbruedigam)

v0.7.1

ConstrainedDynamics v0.7.1

Diff since v0.7.0

Merged pull requests:

• Remove codecov token (#45) (@janbruedigam)
• Add tests (#46) (@janbruedigam)
• Update body setforce and tests (#47) (@janbruedigam)
• Make ωbar more consistent (#48) (@janbruedigam)

v0.7.0

ConstrainedDynamics v0.7.0

Diff since v0.6.2

Merged pull requests:

• Update shapes (#44) (@janbruedigam)

v0.6.2

ConstrainedDynamics v0.6.2

Diff since v0.6.1

Merged pull requests:

• Strandbeest (#42) (@janbruedigam)
• Add storage for external trajectory (#43) (@janbruedigam)

v0.6.1

ConstrainedDynamics v0.6.1

Diff since v0.6.0

Merged pull requests:

• Get minimal velocity (#38) (@janbruedigam)
• Off-center contact (#40) (@janbruedigam)