Fixes and improvements of the DPM planner
KSFSO renamed to KDPMD
The bump function in the target is now larger
Gradient Optimizer and kDPM-C kind of work
introduced time to penalty function
Fixed SFO after new trajectory optimizer
Fixed broken parts of the code. IIHP is currently broken.
GradientOptimizer seems to work
Gradient Optimizer w.i.p.
Gradient-based trajectory optimizer. w.i.p.
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