Function names in DirectSingleShooting
Cleanup of NLPSolver base class
Default Jacobian in DirectSingleShooting
Added warning for inefficient calculations in Derivative class
Added FX::evaluateCompressed for automatic elimination of all-zero derivative directions in evaluate
Added functionality to calculate directional derivatives via creating a Jacobian and then multipying
Fixed bug in DirectSingleShooting
Fixed printing of regularization in SQPMethod
automatic documentation update
automatic casadibot merge