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Created with Raphaël 2.2.06Dec29Nov272423161513129finalmainmaincasadicasadifmincon added variablesfmincon added variablescasadi first trial, velocity addeddocumentationdocumentationdocumentationfirst learnt hopfirst learnt hopchange control law, and first path for optimizationchange control law, and first path for optimizationfirst commitfirst commitfirst commitInitial commit