bounds bugfix
first pass at bpmpd interface. also some changes to solver_interface base class
work on bpmpd interface
minor pylint stuff
worked on self collisions
Merge branch 'bpmpd' into devel
untested

Conflicts:
	src/sco/gurobi_interface.cpp
	src/sco/todo.txt
	src/trajopt/configuration_space.cpp
add some logic for solver selection
change weighting in cast cost
minor fix in cast cost