Another reorganization of the code. Packages have been replaced with a simple folder structure to make calling and importing functions easier. The hybrid system capabilities have been expanded and now use a fairly straight forward definition system. Transverse LQR, Time varying LQR and direct collocation methods have been epanded to embrace the new hybrid format. All examples have been updated and should run correctly. The animation packages have started to get overhauled to make use of Trajectory objects for quicker interpolation. A second order system class has been added and the direct collocation method automatically formulates the problem using slack variables. Partial differential equation constraints can now be added as well to optimize things that are not time dependent but state dependent.