Fixed bug causing SNOPT and FMINCON to fail because a nonlinearExpr term was constant. Moving constant portions into bounds solved. Added Chebyshev polynomial curve fit example problem.
Fixed legend for all cases in plot sparsity method. Switched to faster numeric to string conversion getting away from symbolic engine. Noticed that some trajectory optimization example are now broke, probably from a previous commit.
Fixed bug where IPOPT export would crash if no constraints were defined. The simplification function was misbehaving and would sometimes put things in a non simplified form with a divide by zero term. Temporarily, this has been resolved although I need to think about a better way to handle it.
Added checks for infinite bounds to speed up Phase plot method.
Added test scripts to each example and create runAllExample script that crawls recursively through all folders and runs each test. It returns which tests failed and passed.
Cleaned up examples and unit tests.
Added analytic Hessian support to IPOPT export, the derivatve checker verified its correctness yet it reduced performance on almost all problems. I have commented most of it out until I can figure out why this might be the case
Added swing down to pendulum on cart example and cleaned up code.
Cleaning up more examples.