initial point-pf written. need to debug
particle filter works
started implementing platt
most of platt.cpp written
have finite differences of platt cost function using random noise numbers. FORCES still fails though
fixed FORCES. getting some mediocre results with hacks. try casadi now b/c variance of FD is bad (according to paper)
casadi-platt costfunc matches
working Platt casadi. optimization still doesn't work though
have differential entropy function written
SCP works for both platt and entropy
need to merge with master