More thorough documentation of optim tests
More thorough documentation of optim tests

billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake