ng">of</span> <span class="string">the</span> <span class="string">cost</span> <span class="string">(summed together)</span>
  .expl         (optional) exploration <span class="string">parameter</span>
  .angle        (optional) array <span class="string">of</span> <span class="string">angle</span> <span class="string">indices</span>
  .target       target <span class="string">state</span>                                    <span class="string">[D x  1 ]</span>
m               <span class="string">mean</spa