Fixed naming error causing variables added after constraints to fail. Started working on phase schedule support again using the SLIP model as an example.
Still in the process of overhauling and refocusing on control theory. I have created new classes to encapsulate input-output dynamic systems that make applying basic control concepts such as lti lqr, ltv lqr, lti lyap, lti hinf, and trajectory optimization much easier. So far the acrobot, sliding mass, and moon lander examples have been converted over.
Updated pendulum on cart example problem. Added sym2func function to replace matlabFunction to generate function handles much quicker. Added fcnJacobian to compute numerical Jacobians of function handles. Switched to numerical linearization as opposed to symbolic for controls objects. This keeps controller generation time down for large complex systems. Maybe later I will give the user the option to use which ever method they prefer.
Added side-step to pendulum on cart example.