OpenMDAO / dymos / 373
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Phase-specific ode options (#155)

* ODEOptions are now optional on an ODE system.  All ODE options can be set via the phase set_time_options, set_state_options, add_control, add_design_parameter, and add_input_parameter interfaces.
So far only brachistochrone has been tested.  More tests that include input parameters and traj parameters need to be added.

* trajectories now starting to work under the new ODE options procedures.  traj_parameters removed from phases -> trajectories now add the appropriate input parameters to each phase when setting up their input and design parameters.

* Phase option 'ode_class' can now be set in phase.setup methods if inheriting from a Phase class.
Phase time, state, control, and parameter options can now be set in phase.setup if inheriting from a Phase class.
If doing this then the call to super.setup should occur after these have been set.
Temporarily removed rate_param operability from simulate since rate_params have been changed to rate_targets.
Proper rate_target handling will occur in SimulationPhase refactor.

* fixes for polynomial controls

* add_objective is now a method on PhaseBase which caches objective information until setup.
During setup, the _setup_objective method determines the path to the objective output and adds it through the standard openMDAO methods.

* Moved time_options checking to the Phase setup stack.
Removed deprecated time options opt_initial and opt_duration.

* working out issues with steady flight example

* Non-opt controls automatically have continuity/rate continuity disabled.
Only trajectory linkages remain to be moved over to the new system in which time/state/control/parameter options are not available until setup.

* two phase cannonball working with constrained linkages

* Trajectory phase linkages working for both connected and constrained linkages.

* successful test of segment simulation component for use in SolveIVPPhase

* SolveIVPPhase suc... (continued)

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Jobs
ID Job ID Ran Files Coverage
1 373.1 (PY=2.7) 0
92.18
 Travis Job 373.1
2 373.2 (PY=3.6 UPLOAD_DOCS=1) 0
92.18
 Travis Job 373.2
Source Files on build 373
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