Dutra improvements
Bugfix #72 (closed) : Improved the TtcaDca (Dutra) cost function and its gradient.
Obstacles are still not in the cost function, but this is a separate issue (#81).
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Bugfix #72 (closed) : Improved the TtcaDca (Dutra) cost function and its gradient.
Obstacles are still not in the cost function, but this is a separate issue (#81).