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Trajectory Objects Multi phase example (#68)

* started work on two burn orbit raise example.  converges but gets the wrong solution so far

* multi-phase orbit raise working, needs documentation

* added a roughed out trajectory object and demonstrated that it works for linking phases in the orbit raise example

* added a printed linkage report during trajectory setup

* first stab at parallel simulation using a multiprocessing pool

* added simulate_phase and simulate_phase_map_unpack to provide phase simulation outside of an instance method.  Trajectory.simulate now works in parallel.  Removed reverse time simulation for now since it added undue complexity.  Need to make the OptimizerBasedPhaseBase simulate method refer to simulate_phase for consistency.

* Trajectories support the simulate method now, and save the results to a TrajectorySimulationResults object which is also recorded to a Sqlite file.  The existing SimulationResults object has been renamed PhaseSimulationResults.

* in the middle of a PhaseSimulationResults refactor to make it compatible with TrajectorySimulationResults

* phase simulation results tests passing

* trajectory get_values method implemented.  More tests added.  Cleaning up examples.

* experimenting with scaling on two burn orbit raise.

* enabled flattened results from TrajectorySimulationObjects.  Reworked scaling on two burn orbit raise model.

* fixed a bug where calling link_phases with the same phases was obliterating previous linkages between those two phases

* added cleanup to several tests to removed unnecessary recorded files.  All bounds now default to +/-1.0E21 which is set in dymos.utils.constants.INF_BOUNDS

* workaround for unicode issues on Python 2.7

* added python2.7 unit unicode fix to the trajectory simulation results.

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