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Implement proper unit tests for optimal control. #68

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Implement proper unit tests for optimal control. #68

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Two test cases

  1. Perturbation of optimal output should result in higher cost - this passes, except for the nonzero linear control cost case.
  2. Confirm that computed costs match manually computed cost - these fail for multiple reasons and need investigating.

@hmzh-khn hmzh-khn added the unit-test Add unit tests for validating that something works. label Mar 14, 2023
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