typo in export_nlp_solver.cpp
Working on #84
CN3 solver update, see #84
Updated CN2*, FORCES and qpDUNES based OCP solvers, see #84
Removed dependency in the integrator common header on aux fcns file
Addendum to the previous commit -- related to the common header in sim
Print input array dimensions in the RT integrator declaration
Fixing MEX iface for the OCP CGT solver
Fixed an indexing bug in the CN2 condensing found by @rienq
Added computation of the cross-terms in the NLP export class...

+ added checks (disabling) to the corr. OCP solvers.
+ added isDiagonal() method to ExportVariable -- to do simplifications
Added computation of the cross term weighting part to the N2 solver...

... plus simplified a lot the code for obj evaluation.
Added cross term var. setup in NLP solver export, case of external AD
Fixing/simplifying objective eval. in N2 generated solver.
Removed simplification of S1 in the CGT...

... cause I dunno correct way to calculate sparsity of an expression.
See #97.
Added S-stage-Hessian terms in the N^2 condensing.
Added getSparsityPattern() to Expression class, see #97
Revived cross-coupling block calculation simplifications.
Cleaned Hessian computation in the N^3 condensing.
Cleaned the ExportNlpSolver class a bit and added HPMPC type
Interfaced the GF's HPMPC solver