Cleaner pass by reference
Changed PrintState to pass by ref.
Templated VectorOnes. Why does it crash with VectorXd &x?
Cleaned loop a bit
Driver updated to Eigen
Updated Integrators to Eigen variables. Untested.
Updated misc todo tasks
Updated Models to Eigen::Vector s. Untested, But compiles
Fixed bug in fx[2] - was calling x[3]
Cleaned Legacy Code