Numerous bug fixes and memory fixes
- Fixed memory leaks in CIOFileInput.cpp's destructor, ciooptim's main
  function, CIOOptSpecs.cpp's destructor, and CIOFineData's destructor
- Imported saveToFile code for CIOFineData from Xiaoyu's branch to mine
- Bug fix: object's frame and frame velocity now allocated on the heap in
  ciooptim::readObjectModel()
- Bug fix: in main, number of columns (cols) now correctly set to numIntervals+1
  instead of numIntervals
- Bug fix: the envcontacts part of CIOVars::loadValuesFromFile() now updates
  contact values for the object corners
- Bug fix: functions in LPhys now use the objorient matrix instead of old, bad
  indices of objpos
- Bug fix: changed LCone to remove a divide-by-zero issue, and outside-the-friction-cone
  penalties are now scaled by the offending force's magnitude
- Bug fix: number of goals now correctly set in CIOFineData constructor
- Bug fix: LCone now returns its calculated value
- Other changes: changed the way the "A" matrix in SNOPT is set up, and cleaned
  up angular velocity calculations in CIOVars into a separate function