use 'ismember' in NonlinearProgram to determine which variable is free, this is more memory efficient than the code I wrote
use 'ismember' in NonlinearProgram to determine which variable is free, this is more memory efficient than the code I wrote

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