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Huawei wang homotopy direct collocation #40

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Update homotopy codes and unit test codes
1. reverse homotopy in direct collocation according Jason's comments: make homotopy_control and tracing_dynamic_control the keyword arguments, but didn't set the default value yet.

2. reverse the definition of k_matrix to make it a diagram matrix with k in the diagram line.

3. added the homotopy test cases in unit test. Only changed a few test case at the beginning. Update to see the correctness of the codes
HuaweiWang committed May 23, 2016
commit 7298aa68e3d9dc9845f7dc53c475994c09a196ac
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