WIP: renamed constants, linearization nearly complete

Changed derivation code so all partial derivatives with respect to coordinates
are only w.r.t. lean, pitch, and steer (except for kinematic ODE's).

Constants used for size of various matrices used to use Google's style
guidelines but these were so verbose that much of my numerical code was
unreadable.  Now you need to know what n, l, o, m, and n_min mean, but once you
do, the code is way more readable.

Renamed set_parameters_from_whipple() set_parameters() and let C++ operator
overloading take care of which function to call.

Renamed all arguments to generated code to be ar[] instead of m[] to remove
conflict with static const int m public data member of Bicycle class.