nnotes.txt: this file

notes.txt: How to install snopt to make my stuff work.

Animating trajectory:
In matlab:
load traj
animate
 - to play back slowly
reanimate

Delete snopt.out every once in a while. It is a log.

pend3.c: actual optimization code
 see Makefile to make it.
snopt.c: interface to snopt.
snopt.spc: set snopt parameters.
traj: example trajectory.
