Added comments to armijo.m and changed the names of simulate functions. Want to get simulate to have ODE solver as an option.
Fixed sim functions to only use Euler integration. To slow trying to incorporate ODE solver because have to solve for index given any input time.
Editting stopping condition and trying to fix step size calculation.
Fixing armijo step size. Replaced J with H. Now want to have gamma be a time vector instead of a single value.
Fixed armijo step size. Things still don't work for unicycle model.