Bunch of Fixes & Add Some Testing Scripts

- Fix missing references to `obj`
- Fix `npredinputs` so it matches `npredstates` as specified by
  `forwardIntegrate.m`
- Fix typo: `get_start_idx` -> `obj.get_state_start_idx`
- Fix nonlinear constraint indexing issue
- Fix nonlinear constraint obstacle indexing typo
- Remove unused `nonlinear_bike_model` function
- Compute continuous system matrices offline and convert
  to function with `matlabFunction`: `A_c_func` & `B_c_func`
- Add `miscellaneous_stuff.m` which has some random testing
  and continuous system matrix generation code
- Add `part2_test_controller.m` for testing part2 deliverable

Experimentation/part2_test_controller.m

@@ -0,0 +1,21 @@
+%% Close Figures, Clear Workspace, and Clear Terminal
+close all;
+clear;
+clc;
+
+%% Call simulation functions
+[Y,U,t_total,t_update] = forwardIntegrate();
+info = getTrajectoryInfo(Y,U)
+
+%% Figures
+% Plot segmented trajectory for debugging purposes
+figure(1)
+hold on;
+grid on;
+
+plot(Y(:,1), Y(:,3), '-');
+
+load('TestTrack.mat')
+plot(TestTrack.bl(1,:), TestTrack.bl(2,:), '--r');
+plot(TestTrack.br(1,:), TestTrack.br(2,:), '--r');
+plot(TestTrack.cline(1,:), TestTrack.cline(2,:), '-.g');