Started implementing three dimensional matrix support. This will allow matrix operations on expressions for the first two dimensions and element-wise operations on the third dimensions. This will make things like solving the riccati equations along with direct collocation formulations possible.
Getting ready to write faster version of spline and ppval.
Fixed export function to work with new parameter naming scheme. Parameter can now be 3D matrices as well. Updated basic NLP examples to new syntax. Added benchmarking to runAllExamples. Fixed get methods to work with object arrays and matrices.
Updating DirectCollocation class to use new matrix syntax. Testing on a couple examples. Testing mass matrix inverse constraint. Fixed iterator bug in subs method.
Fixed uppercase option recogition in addVariable.
Fixed bug in SymVariable subsref. Updated control directCollocation methods to use matrix expressions. Fixed some indexing issues in SymSparse class arising from new subsref syntac. Updated all examples to work with matrix expressions.
Merge branch 'matrix-support'

Conflicts:
	coalesce/control/@SecondOrderSystem/directCollocation.m