Change the dynamic programming constructor interface

  Now it will take a vector of TaskVoltageTable as argument.
  It intends to encapsulate most of the information the constructor needs.
Merge branch 'master' into dpinterface
Merge branch 'master' into dpinterface
Modify taskScheduling.cpp testbench so working with new interface
Merge branch 'master' into dpinterface
Use scheduling_deadline in taskScheduling test bench
Simplify the dynamic programming constructor interface

  Remove the dependence on task Duration vector and processor
  voltage table, because they are now encapsulated in task volatage
  table vector
Generate a voltage table with only single voltage
Remove energy vector in the argument list in the constructor of dynamic
programming
Test single voltage
Correct bug in VoltageTable.cpp
Merge branch 'master' into dpinterface
Minor change in Makefile
Modify testSingleVoltage program
Added TaskGenerator function
Modify Makefile for testSingle program
In single voltage test, added 0.8 and 0.9 volt
Scripts to compare single task voltage setting
Add more debug info when dynamic programming
Modify testSingleVoltage