Update solution filter function.
Merge pull request #68 from gsmcmullin/update_mathjax

Update MathJax path for Doxygen.
Merge pull request #69 from cbeighley/update_solution_filter

Update solution filter function
Added a print for sdiffs
Minor formatting and docs
Merge pull request #77 from imh/print_sdiff

Added a print for sdiffs
Update tracking loop mathematics and documentation.