Revert to working zuckermaas 628c3a7830940ddd26c4a9cfabf657a879417c73
Fixed z_tplus1 to one that doesn't cause floating point errors
Changed parameters and configuration to known good values
Reapply 98a6ecc5677983f92371246a6151e0a82fbbbbc7
Made a typedef for std::vector<double>
Printouts for theta
Reapply Removed some magic numbers
Default parameter values for zuckermaas
Lots of gui updates