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Started improving ForceBasedFunction so that it translates better to the...

VAN TOLL Wouter requested to merge 76-ForceBasedFunction-improvement into dev_whatever

Improved ForceBasedFunction so that it translates better to the velocity domain. GetGradient(currentvelocity) still returns the same vector as before, but the costs and gradients are now more meaningful for other velocities.

Closes #76 (closed)

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