Identifying where value changes in R data.frame column

I have a data.frame in R where the value column contains data of the class character. I want to identify the row numbers where value changes. In the example below I want to get out 4, 7, and 9. Is there a way to do this without looping?

df <- data.frame(ind=1:10,
 value=as.character(c(100,100,100,200,200,200,300,300,400,400)), 
 stringsAsFactors=F)
df
   ind value
1    1   100
2    2   100
3    3   100
4    4   200
5    5   200
6    6   200
7    7   300
8    8   300
9    9   400
10  10   400