1. Fixed plotting bugs and optimizer errors for systems with 4 shape variables

[sureshr14]

1. Fixed plotting bugs and optimizer errors for systems with 4 shape variables

[rlhatton]

Thanks. I've merged a few changes into that branch. Two things that I noticed: 1. the Beta_draw functions aren't updated -- I started to update Beta_draw, but only got as far as adding the conditional check to run surf only if there was a 2d shapespace. (Along with making sure stretch was only applied for 2d systems, which I also put in CCF_draw). Could you make the rest of the changes needed for the beta draw functions, and test all plot functions for the higher-dimensional system? (I think illustrate shapespace needs help for 4-d systems) 2. I thought you said you had gaits being padded out or truncated to the appropriate number of shape variables -- did I misunderstand, or did that not make it into the upload? =========== Ross L. Hatton Associate Professor, School of MIME Collaborative Robotics and Intelligent Systems Institute Oregon State University coris.oregonstate.edu research.engr.oregonstate.edu/lram/ rosslhatton.com ross.hatton@oregonstate.edu

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