Implement proper unit tests for optimal control.#68

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hmzh-khn wants to merge 8 commits intomainfrom hmzh/lqr-tests

+332-195

Commits on Mar 5, 2023

Implement derivatives within costs and dynamics and update linearize/quadraticize functions.
hmzh-khn
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Merge branch 'main' into hmzh/derivatives-in-costs-dynamics
hmzh-khn
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Implment derivatives of costs/dynamics
hmzh-khn
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Commits on Mar 14, 2023

Fix constant term dynamics failures in LQR Optimum test. linear term control cost still not workng
hmzh-khn
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