Cleared ipopt_internal.cpp of WITH_IPOPT_CALLBACK macro test.
Only ipopt_nlp is now contaminated.
automatic documentation update
Converted vdp to lifted newton (not working)
Updated linesearch in SCPgen
SCPgen: added curvature check
Speed improvement in SCPgen
More refactoring of SCPgen
Support for parameters in SCPgen
SCPgen: added parameters to x_ vector
SCPgen: Added parameters to residual function
SCPgen: added d expression for parameters
SCPgen: Added parameters to step expansion function
SCPgen: support for parametric NLPs