OSC now owns tracking datas, this prevents segfaults if we want to use the OSC outside of a main executable (ie. make an OSC factory)
OSC cost logging now uses the actual drake evaluators instead of manually recomputing the cost. This prevents accidental mismatches if we change the cost formulation
Improved impact-invariant formulation
Add OSC gains base class to contain the common cost matrices
Several significant changes to OSC
This change is