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This function returns a tuple of the cost of the best path and the
best path, shown as an array: (cost, [j])
nodecost(t, extra_info) -> ([j-j0], j0, jn) at time t, pitch=j All
nodes with j<j0 or j>=jn have infinite cost. linkcost(t,
extra_info) -> ([j1, j2-j0], j0, jn) this is the cost to go from
(t,j1) to (t+1,j2), where j=pitch. Note the first index spans from 0 to
N. All links that have either j1 or j1 outside of [j0,jn) have infinite
cost. The extra_info argument isn't used by this function; it is simply
passed down to the nodecost() and linkcost functions. T=number of time
steps N = Largest possible pitch
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