Modular CDDP (v0.4.0)

Major CDDP Solver Architecture Refactor (#129)

* Complete architectural refactoring of CDDP library with modular solver design
* Added 7 new solver implementations: ASDDP, CLDDP, IPDDP, LogDDP, MSIPDDP, ALDDP, DBASDDP
* Introduced unified CDDPOptions and CDDPSolution API
* Enhanced constraint handling with proper Jacobian/Hessian support
* Implemented filter line-search methods for robust convergence
* Added comprehensive test suite and benchmark examples
* Performance: MSIPDDP achieves 45% faster solve times than IPOPT on quadrotor benchmark
* Breaking change: New API requires solver type selection via solve(SolverType) method

Legacy version

feat: Add SNOPT solver integration with CasADi (#127)

* Enable SNOPT solver in CMake and add example for unicycle trajectory optimization using SNOPT. Update README to include SNOPT as an optional dependency.

* Add benchmark resukts

v0.3.1

Fixed bugs in the solver

v0.3.0

Intrior-point method-based optimal control problem (OCP) solver.

v0.2.3

What's Changed

• Add Second-Order Derivatives and Autodiff Support by @astomodynamics in #95

Full Changelog: v0.2.2...v0.2.3

v0.2.2

Current stable version

v0.2.1

Current stable version

v0.2.0

IPDDP, ASDDP, and CLDDP are ready

v0.1.3

CLDDP and LogDDP for control-limited tasks are ready

v0.1.2

Create a new qp solver based on sdqp (#52)

* Create a new qp solver based on sdqp

* remove sdqp dependency