delyle/Optimize-Symmetrical-Quadruped: Optimize Symmetrical Quadruped

In this version, I've added overhead functions to make it easier to run optimizations. The GlobalOptimum function runs a series of random guesses for a given condition, and identifies the solution that minimizes the objective. Other improvements include adding video and plotting options, adding a function to compare components of cost, and allowing the user to specify foot position constraint outside of the main SymQuadOpt function.