- Set gradient options to true for `fmincon` optimizer
- Play with optimizer limits a bit
- Add gradient computation for cost function
- Add gradient computation for track & obstacle constraints
- Compute gradients offline in `miscellaneous_stuff.m`
- Update `point_to_line` to output signed distance
- 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
