- fix shuttle model to recalculate inertia matrix after centering
- refactor 3d plotting functions
- add functions for using quaternions
- add quaternion based model for integrating thrusts
- add exponential map based model for integrating thrusts
- refactor state space models for approximately maintaining constraints
- add euler step function
- add animation function for 3d

- refactor state space models to return function info as dictionaries
- move riccati solver to misc
- add derivative calculation to empirical drag model
- add min norm controller for relative degree 1 control (accel -> v)
- add min norm controller for relative degree 2 control (accel -> pos)
- add documentation for the min norm controllers

- add interpolation for creating n dimensional trajectories
- fix bug in camera projection not accounting for translation

- add scene elements for visualization
- add example that displays top down and projection to camera image