Issue #888: warnings during build resolved
Issue #888: warnings during cmake step resolved
Change to StabilizedSQP + added to unittests

Request per @slavakung

Can you make the following change to meatpower:

For the first iteration, let the Hessian be defined as:

H = 0.01*gLagScale * I

(reasoning: initial Lagrange multipliers are generally garbage so you
can't trust the first Hessian)
Removing lame trick for avoiding #822
automatic documentation update
automatic casadibot merge