Data collecting script for the cartpole.

[shrenikm]

• Data/ directory to store all the collected data.

• Script in run/ to collect trajectory data from the cartpole direct collocation model.

• Modified the cartpole direct collocation function and calling structure to make it more generic:

  • The total time is now specified and Dt is computed using this.
  • The control input limits are sent as parameters to the direct collocation function.

• Fixed a few of the errors in the derivatives in A_cartpole. The lqr solution still doesn't run for different 'l', 'mp' and 'mc'.

• A function under tools/math/ to generate a random number of matrix within two limits. (Uniform distribution)