- changed the interface to auto generated integrators (according to ticket #10 on SF)
- cleanup of code for export of linear solvers
- added DIRK methods (work in progress) 



git-svn-id: svn://svn.code.sf.net/p/acado/code/trunk@175 f4037fd0-e48f-4cc9-9f8e-e12ed3b76bf3