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…ui_optimize for flag state
…ing-point-of-gait issue - committing before merging master into branch
Upgraded granular system to support illustrate shape space
… of mass matrix to shape variable basis in Inertial_connection_discrete
… be working correctly; also very slow. Added several functions to aid in matrix precalculation, modified sys_calcsystem functions to allow for inertia term precalculation, modified optimalgaitgenerator to have switch between inertia-based optimization and drag-based optimization. Need to improve speed by changing how the gradient of cost is calculated (reducing interpn calls) and figure out why the optimizer thinks a circle gait is the best.
…th before moving on to using time period as cost
…ault plotting behavior for sysplotter when optimizing
Inertia optimizer
Support for SO(3) position space
Pulling Capprin's changes to master into Ross
…dimensions than specified in the gait
…t they are executing
…t don't look right
Edited CCF calculations to fix gradient generation in optimizer
Pulling in Nathan's high-dimensional bugfixes
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