Nonlinear program snoptmex

Add a wrapper to snopt, it basically replaces the `snoptcmex` file.
There are some issues
1. I am linking MATLAB gfortran, this probably cannot work on Windows or a 32 bit machine.
2. The print out file is not set correctly. Now it prints most of the contents to a file name `fort.9`, and only the summary section to the correct print out file
Forgot to do that, will include it in my next commit