[Work Log] Testing CL energy

Testing constant-length energy function. First test: $\eta$ and it's Jacobian, implemented in test/test_eta_deriv.m. Test passes. Interesting observation: jacobian is nearly bidiagonal. Hopefully the hessian will have similar form, so ignoring the off-diagonal terms won't be too detrimental.

Need to implement end-to-end test for $E$ and its gradient/hessian. Compare against analytical Hessian estimate and the crude $J'J$ Hessian approximator.

need to update likelihood means?

Posted by Kyle Simek