Create type and structs to abstract dynamics and costs beyond LQ assumptions. #35
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Introduces a number of new types and structs to allow for loosening of LQ assumptions in future code.
Cost,QuadraticCost,NonQuadraticCostDynamics,LinearDynamics,NonlinearDynamicsImplements expected interfaces for the
CostandDynamicsclasses and abstracts the unrolling functions to use them. Also adjust calls to these types/structs elsewhere in the code and passes all tests.This will be needed for future work that takes in games with non-LQ dynamics and costing.
This helps implement #16.
I should probably implement better tests for this, but have only included a todo for now. An issue is made here: