update documentation

	* README.html, README.md, INSTALL.html, Makefile, doc/Doxyfile.in:
	  - update docu
	  - use MathJax instead of LaTeX/png for math typesetting
	  - use svg instead of png for class graphs
	  - disable generation of LaTeX/PDF source code docu
	* omu/Prg_SFunctionOpt.h, omu/Prg_SFunctionEst.h:
	  - add discrete state equations to docu
	* hqp/Hqp_LPSolve.h, hqp/Hqp_SqpProgram.h, hxi/Hxi_mx_parse.h,
	  omu/Omu_IntIMP.h, omu/Omu_Program.h:
	  - fix doc comments to avoid errors from LaTeX