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 /**
 * Finds a control input history that achieves certain desired features
 * of a cat's flipping maneuver, as determined by the objective function.
 * The control of the system is performed via a PrescribedController that
 * uses a spline for all actuators.
 *
 * Parameters are ordered by actuator, then by spline point index for a
 * given actuator. Parameters are nondimensionalized by the min or max
 * control values for the associated actuator.
 * */
class FlippinFelinesOptimizerSystem : public SimTK::OptimizerSystem {
public:
    /**
     * @param tool
Contains
all input settings.      * */
    FlippinFelinesOptimizerSystem(OpenSim::FlippinFelinesOptimizerTool & tool) :
        _tool(tool),
        _duration(1.0),
        _objectiveCalls(0),
        _objectiveFcnValueBestYet(SimTK::Infinity),
    {
        // Parse inputs & prepare output
        // --------------------------------------------------------------------
	    //    //********** PART C.1 **********

        // Add a controller to the model to control the actuators it has
        // --------------------------------------------------------------------
        // C.2
        ********** PART C.2 **********

		// Set parameter limits/bounds for the optimization.
        // --------------------------------------------------------------------
        // ********** PART C.3 **********

    }
    SimTK::Vector initialParameters()
    {
        // ********** PART C.4 **********
    }
    
    /**
     * Defines desired features for the cat model's flip. Each call to this
     * function updates the model's control, runs a forward dynamic simulation
     * with this control, computes the objective value resulting from the
     * simulation, and saves the results to output.
     * */
    int objectiveFunc(const SimTK::Vector & parameters, bool new_parameters,
            SimTK::Real & f) const
    {
        // ...
        // Unpack parameters into the model (i.e., update spline points)
        // --------------------------------------------------------------------
        // ********** PART C.5         **********

		// Run a forward dynamics simulation
        // --------------------------------------------------------------------
        // ********** PART C.6 **********

        // Construct the objective function, term by term
        // --------------------------------------------------------------------
        // ********** PART C.7 **********

        // Update the log and outputs with the objective function value
        // --------------------------------------------------------------------
        // ********** PART C.8 Collapsible.**********

    }
    // Miscellaneous functions (used, but uninteresting)
    // ------------------------------------------------------------------------
    // TODO collapsible.
    //********** PART C.10 **********

private:

    // Objective function terms
    // ------------------------------------------------------------------------
    // ********** PART C.7, collapsible
     **********

	// Member variables
    // ------------------------------------------------------------------------
    	// 
    //********** PART C.9 **********

};