check point. smoothed FwdFwd at stepping
check point. C0 continuity satisfied. C1 continuity to be added.
continuity and convexity fix. curvature to be handled next
checkpoint for full run
checkpoint for full run
checkpoint-- next is quardratic!
checkpoint. 372, 373 are from flat region
completion of C2 zro / C1 fwd issue
Merge branch 'develop'

* develop:
  completion of C2 zro / C1 fwd issue
  checkpoint. 372, 373 are from flat region
  checkpoint-- next is quardratic!
  checkpoint for full run
  checkpoint for full run
  continuity and convexity fix. curvature to be handled next
  check point. C0 continuity satisfied. C1 continuity to be added.
  check point. smoothed FwdFwd at stepping