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License: GNU General Public License v3.0
Optimal feedback control
License: GNU General Public License v3.0
Defined in OFC_Parameters.
State evolution noise (Eqn 3.1, Todorov2005), internal noise (p1090, Todorov2005), and state-dependent noise (Eqn 3.1, Todorov2005) are currently ignored.
TrajectoryRollOut has control law at timestep t+1 being applied to state at t. Check with Todorov etc.
Matrices are not consistently sized in the KalmanFiltering function.
Currently, both pgoal and xinit must be specified explicitly. This is redundant. User should specify position/velocity/actuation initial states and OFC_GlobalVars should add the target information.
May need to leave target component of state accessible somehow however.
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