Heidenheim
Heidenheim lay on the Brenz beneath Hellenstein Castle, the seat of the Swabian lords of Hellenstein. Their male line died out in 1273, and the lordship passed through several hands.
The counts of Helfenstein acquired the castle in 1351, and Emperor Charles IV confirmed Heidenheim's market rights in 1356. The town passed to Württemberg's Duchy of Teck in 1448 and belonged to Bavaria from 1450 to 1504. After Hellenstein burned in 1530, Duke Ulrich of Württemberg rebuilt it.