Merged ani's SDSOS/DSOS changes from SVN with some additions of my own
Merge branch 'origin/development_mex_and_mosek'

Conflicts:
	spotopt/solvers/spot_mosek.m
Reverted some changes to provide clean working branch.
Moved spot_gurobi to solvers directory.
Bug fixes for conic constraints.
Fixed spot_gurobi case structure.
Added a check for gurobi runtime info.
Merge pull request #1 from mposa/master

DSOS/SDSOS changes from Ani and bug fixes