Reorganized PSD variables
Deleting files not any longer used
Added class for NT scalings for PSD-variables
Fixed uprd and uinv methods for psd; included to unit-tests
Added classes for inequality constraints
Added creator functions for inequality constraints
Added CTL module with CTRL class for setting control parameters
Added CPG module for defining an solving convex programs
Added class defintion for quadratic programs in module CPG
Added R-wrapper function for creating DQP objects with show-method