committing b/c about to change arm.h and arm-state.cpp
adding templates
about to update eclipse environment
able to use adolc to compute obs jacobian
able to use adolc to compute obs jacobian
correctly computed cost function (if comment out new attempts for grad of cost
forgot to add point-state-adolc
only last entry of each gradient is correct. possible decoupling when linearizing observation
moved old stuff to sandbox. about to switch from ublas back to aMatrix for point
adolc works for one time step
adolc works for one time step
point-state-adolc runs! time is around 400 ms
committing to pull on rll2
Merge branch 'gkahn'