expose statevar as arg in sys_to_spec, env_to_spec, fts2spec, sys_open_fts2spec, env_open_fts2spec

and reorder args in their signatures
improve docstrings in functions of tulip.synth
turn off graphviz warnings when using tikz

because graphviz cannot parse the tikz label formatting options
change /out: -> / to prefix machine outputs
select initial state incoming edge direction based on rankdir for tikz
color edges in dot
do not replace {, } by \{, \} for tikz

because in mathmode they don't need escaping
use raw strings, check for basestring instead of str
use mathmode for edge labels in tikz

and rename var: edge_dot_label -> label for brevity (local scope)
turn off plotting in tests

to avoid failures when ssh'ed without -X
throttle transys warning about adding existing state

because it is a situation quite common when loading results from other tools
(e.g., ltl2ba).
add $TMPLIB variable
improve top comments in script

and some style
check that sed, curl, tar are available
hash freshly installed python and pip

to avoid bash using the existing python in its hash table.
For more details see:
	http://unix.stackexchange.com/questions/86012/what-is-the-purpose-of-the-hash-command
verify the intended python and pip are available
allow curl to redirect with -L option
disable installation of virtualenvwrapper

too fragile, because of different environments and cfg files in different operating systems.
rewrite glpk installation

- make glpk installation optional
- skip re-installing if already locally installed
- allow curl to redirect (option -L)
- hash glpsol to avoid conflicts with hashed existing glpsol installations
rewrite cvxopt installation

- update to cvxopt from 1.1.6 -> 1.1.7 that exposes cfg by env vars
- clone from github, instead of fetching tarball
- two options for local and global ubuntu installations of ATLAS and LAPACK (need be verified)