add new planner which only one sector variable for both sin and cos
pcone constraint
new polynomial cone utility
polycone-based planner
more accurate approximation
much faster footstep planner relying on good convex relaxations
fix some spacing bugs and implement trim
get reachability from biped
make goal cost higher on final steps
experimental MILP version
objective on movement of each foot
less relative step weight
normalize region constraints
partial compilation of new algorithm to gurobi
WIP: more progress on compiled planner
fix bug creating too many variables
working version of new planner compiled into gurobi
push some of the grunt work out to a new helper class
support easily toggling between linear and socp version
support cones or polycones easily