Merge pull request #25 from clottman/goodness

Goodness
rhs testmethod
Merge pull request #26 from clottman/CasseyNew

rhs testmethod
negative rhs test infeasible
Merge branch 'master' into CasseyNew
Merge pull request #27 from clottman/CasseyNew

Cassey new
mattress
Merge branch 'master' into goodness