fix newton maps vectorization
add guess and return g
setup, initialize qp, and run solver with debugging stuff
nmhe working!
transpose U
make nmhe solver delta time a variable
add kite mhe example
add qp matlab export
initial guess for nmhe
get kite mhe working by using ipopt qp solver, also fix GN f = F*F not F
remove deprecated runnewton.py
modernize fourier_fit and transition_collocation
add some member variables to Trajectory
remove energy state from states now that quadratures are working
remove energy state from kitemhe (it's been removed from everything else already)
use name instead of args[0], which is not there anymore
update bounds feedback
implement constraint violation reporting
osx kitevis now uses zeromq3
fix constraint violation reporting bug