Fmu export

Add the functions to export TuLiP controller to C executable code and FMU. 

Added:

External Files:
extern/ecos-1.0.4 : information on the repository and version of the ecos code, script to fetch and patch the ecos source code from github
extern/fmi: header files for fmi, information on the repository and revision number of the header files.

Source Files:
contrib/fmu, contrib/fmu/sources, contrib/fmu/include: the python and C code and the makefile to generate the fmu 

Example:
contrib/fmu/robotfmu.py, contrib/fmu/test: exporting the controller generated for examples/robot_planning/continuous.py to fmu
contrib/fmu/model.xml: Ptolemy II file used for simulating the fmu