Automatic scaling for qpoases solver-wrapper

[hungpham2511]

• This PR implements auto-scaling for the optimization problems solved at each step. This helps to improve numerical stability.
• The forward-pass is now optimized: Instead of solving 2D LPs, solve 1D LPs instead.

[coveralls]

Pull Request Test Coverage Report for Build 170

• 87 of 107 (81.31%) changed or added relevant lines in 4 files are covered.
• 4 unchanged lines in 3 files lost coverage.
• Overall coverage decreased (-0.6%) to 82.28%

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Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
toppra/algorithm/algorithm.py	1	2	50.0%
toppra/algorithm/reachabilitybased/reachability_algorithm.py	11	15	73.33%
toppra/solverwrapper/hot_qpoases_solverwrapper.py	70	85	82.35%
<!--	Total:	87	107	81.31%	-->

Files with Coverage Reduction	New Missed Lines	%
toppra/solverwrapper/hot_qpoases_solverwrapper.py	1	85.89%
toppra/constraint/constraint.py	1	91.67%
toppra/algorithm/reachabilitybased/reachability_algorithm.py	2	81.53%
<!--	Total:	4		-->

Totals
Change from base Build 166:	-0.6%
Covered Lines:	1198
Relevant Lines:	1456

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💛 - Coveralls