fix sin bases in fourier fitting
SAB mega-dump :'(
print violations every 10 iterations, for speed
interpolate trajectory: h *= 0.999999999999 to supress spikes
Merge branch 'master' of github.com:ghorn/rawesome
write DAE, minLsq, minLsqEndTerm every time in ocp export, but don't always use it
Merge branch 'master' of https://github.com/ghorn/rawesome