Implement flow map smoothing #28
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The last subdivision node in an edge would have its child node set incorrectly.
I misunderstood the paper first and implemented it based on the straight-edge angles, but rather it's supposed to work based on the spiral angle parameters. This works quite well but some unstabilities occur.
I redid the derivative computations and changed the derivative functions in Spiral correspondingly. Also fix the smoothing cost gradient to also apply to the parent and child, which was missing before.
Also, document the formulas used for the smoothing cost.
The problem was that the α function was inverted (due to confusion over which of the two input points is the one further from the origin). Also renamed "force" to "gradient" to reduce sign confusion.
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Willem3141
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Implements the optimization procedure for flow maps. See #16. This implements all cost functions except for the obstacle cost. It also doesn't yet pick ε dynamically.
Also includes a corresponding demo application.