Marble Cart constraint

Need to update the marble cart constraint to be more accurate: -\Delta F_{\text{max}} \leq \left\| \bm{F}_{g} \right\|_2^2 - \left\| \bm{F}_{g}^{\text{prev}} \right\|_2^2 \leq \Delta F_{\text{max}} To solve this we need to consider solving: \left\| \bm{F}_{g} \right\|_2^2 = \omega_m^2 (\bm{F}_{m} - \bm{F}_{c})^T (\bm{F}_{m} - \bm{F}_{c}) + 2\omega_m (\bm{F}_{m} - \bm{F}_{c})^T \bm{F}_{c} + \bm{F}_{c}^T \bm{F}_{c}