feat(opensmt/smtsolvers/SMTConfig.C): set up version string
benchmarks(hybrid_systems): use new options (ode_, instead of ode-)
tests(nra_ode): use new options (ode_, instead of ode-)
fix(dsolver/icp_solver.cpp): use LOG(INFO) to call pprint_vars/lits
fix(opensmt/smtsolvers/SMTConfig.C): verbosity level
fix(dsolver/icp_solver): small bug lingering from old rebase where not ignoring forall constraints.  Also updated planning examples

Conflicts:
        benchmarks/planning/one-var.drh
        benchmarks/planning/vehicle.drh
        src/dsolvers/icp_solver.cpp
fix(tools/bmc): fix missing integral; add unused variable to formula
chore(travis): reduce timeout from 450 to 400