Re-generation and cleanup of C-code

[AndyZe]

I figured I would start an issue to discuss re-generating and cleanup of the C-code. Hopefully so we can start using it in MoveIt.

There are some annoying warnings in the generated C-code:

// Student License - for use by students to meet course requirements and
// perform academic research at degree granting institutions only. Not
// for government, commercial, or other organizational use.

To get rid of these warnings, we could re-run Coder on a commercially-licensed version of MATLAB. Maybe you can give specific instructions for how to run coder? Like, cd to this filepath. Run this: ...

[MariusBeul]

For generating a static library:

1. Clone the repository
   git clone git@github.com:AIS-Bonn/TopiCo.git
2. Start MATLAB and open
   /TopiCo/MATLAB/generate_code.m
3. Change
   cfg.GenCodeOnly = true; to cfg.GenCodeOnly = false;
4. Run (and ignore the warnings)
   generate_code.m
5. The library is located here:
   /TopiCo/MATLAB/codegen/lib/topico_wrapper/topico_wrapper.a