Implements simple state bound constraints of the form $x^- \leq x \leq x^+$ for direct methods and closed loop integration. For the moment, more general constraints of the form $c (x) \geq 0$ can be implemented on a per-problem basis using barrier functions. Changes analysis -> analyze and updates the find_equilibrium method to use integration instead of root finding.
Resolves #20 :
Implements simple state bound constraints of the form $x^- \leq x \leq x^+$ for direct methods and closed loop integration. For the moment, more general constraints of the form $c (x) \geq 0$ can be implemented on a per-problem basis using barrier functions. Changes
analysis->analyzeand updates thefind_equilibriummethod to use integration instead of root finding.