Revert "hot-fix for broken merge in last commit"

This reverts commit 401a5907d29f8ea3569dda861b9b14482d8816ac.
new repair of trunk
fixing strange issue with SWIG and CasADi namespace
automatic documentation update
generate_options: fix bug hiding qpoases options
Extend optionfunctionality to support enum-type entries
Using enum-type options
automatic documentation update
Shallow water: misc
Shallow water: refactoring
Shallow water: refactored step expansion
Shallow water: split up calculation of step expansion
Shallow water: reimplemented QP generation (debug)
Shallow water: Fixed gauss-newton, now consistent with full-space
Shallow water: debugged exact Hessian
Shallow water: clean-up