use Function::jacobian() instead of 4 MX jacobian(MX,MX) calls
put callSX vs callMX all in one place
fix DaeColl
simplify some redundant collocation constraint types
update for casadi
don't use compact jacobian, as per joel's recommendation
split covariance propogation and the rest of the stage function
revive NlpMonad after MX overhaul