State Generality

[MrPezser]

Current the math_mod routines are hardcoded for the current state (1D state space w/ height and velocity). This needs to be generalized with the help of additional routines in the state_module. Additionally, it would be good to include different options for the state space, maybe not fully fleshed out, but just getting them there so people can see them.

• [x] Create methods/data structure in the state struct for returning a single array of derivatives
• [x] Generalize the math module routines to operate on an array of a state's derivatives
• [x] Change the State struct to an enum with the different possible state spaces
• [x] Add 2Dof and 3Dof state spaces

Current idea is to define general state functions under "impl State {}" and use match statements to handle differences between the states. OPEN QUESTION is if states should be structs in and of themselves, or if they should just be arrays/tuples. I'm going to try to implement them as arrays handled by the State enum since that means the fewest layers of abstraction, but I could see the desire to put them in structs later.

[MrPezser]

Current Implementation of this is that "State" is an enum whose variants take the different state space structures as arguments. Each state space is a structure which defines the information it needs. Specifically the state vectors themselves have a specific type (Ex: [f64; 2]). In order for external functions to interact with the states in a general manner, a second enum "State Vector" is made. The variants of StateVector have the same name as the variants of State, and their field is a type specifier (Ex: __1DOF([f64; 2]))