Splitting out SMMAP utility files.

[ChuplesKai]

There are many utility files to separate out into different repositories to allow others to access them.

Split out to new repository `smmap_utilities':

• CVXOpt_Solvers [assigned: Chuples]
• gurobi_solvers [assigned: Chuples]
• nomad_solvers (still pending pull request into smmap) [assigned: Chuples]
• bandit algorithms (UCB1Normal, KFMANs) [assigned: Chuples]

Split out to `arc_utilities':

• timing [assigned: Chuples]
• visualization_tools [assigned: Dale]
• trajectory (move some functions to eigen_helpers) [assigned: Dale]

[dmcconachie]

visualization_tools copied to smmap_utilities, not yet removed here. Will append the removal to the existing pull request and merge once Mengyao's changes are merged in (by the end of the week).

[dmcconachie]

The files to split off into smmap_utilities are done, still need to move functions from trajectory.hpp into arc_utilities.

[dmcconachie]

As much moved as is planned.