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Resolve "[OAC] Resolve TODOs In OAController"

Merged shibohan requested to merge 61-oac-resolve-todos-in-oacontroller into master
  • Add Alg FGM class template
  • Retest stage 1 Algs
  • Complete some todos in OAC
  • bug fixes

Closes #61 (closed)

Edited by shibohan