Added a temporary directory option for the ufuncify code and automatically delete generated files if not set.
[WIP] Start of a mroe general and cleaner collocator class.
Forgot to add the mods to direct_collocation.py.
Basic ConstraintCollocator tests in place.
Test for initialization and symbol sorting pass.
Discretization of the EoM work.
gen_multi_arg_con_func passes.
The general jac indices and jacobian function works.
ConstraintCollocator class works based on the tests.