getDcm can now take a prefix
carousel homotopy uses steady state guess
implement carousel transition solver
vectorize spline interpolation (big speedup)
move trajectory loading/interpolation from collocation to trajectory
add script to convert trajectories for reinhart
Merge branch 'master' of git://github.com/mzanon/rawesome
default levenberg marquart option 0.0 not 0
fix convert_trajectory code
add variable weighting matrix option to acado
add (somewhat untested) arrival cost support to ocprt
updateArrivalCost now properly calls _getAll() after calling to C
carousel homotopy: enforce sin**2 + cos**2 == 1
tweak carousel homotopy: regularization and linear solver
carousel corkscrew transition working reliably
add preliminary ocprt.getLog()
ocpRT.getLog now returns whole history
carousel transition now frees initial phase
Fixed arm length of the carousel 1
Mario's updated steady state computation