refactor: use "nra_" and "nra_ODE" prefix for config vars
feat(util/string.h): add trim* functions
fix(util/scoped_*): use setw/setfill in formatting
feat(util/logging): add DREAL_LOG*_IS_ON macro
refactor(realpaver/rp_interval): remove LOG msgs
fix(dsolver/ode_solver): give better error msg for inv violation
fix(dsolvers/nra_solver): clean up LOG msgs
checkpoint - clean up LOG msgs in icp_solver