correct ksp counting complementarity and ipm solvers

TAO: Enable interface for complex scalar builds

docs: fix errors of type:
manualpages in: /sandbox/petsc/petsc.clone/src/tao/unconstrained/impls/nls
make[7]: [manualpages] Error 1 (ignored)

tao: documentation update

add a tao solver page to man pages for each solver (could be filled in a bit more)

removed MatStructure arguments from Tao

KSPSetOperators() no longer has the MatStructure argument. The Mat objects now track that information themselves. Use KPS/PCSetReusePreconditioner() to prevent the recomputation of the preconditioner

KSPSetOperators() no longer has the MatStructure argument. The Mat objects now track that information themselves. Use KPS/PCSetReusePreconditioner() to prevent the recomputation of the preconditioner if the operator changed in the way that SAME_PRECONDITIONER did with KSPSetOperators()

SNES/TS still need to be cleaned up to better utilize the new interfaces

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completed cleanup of removal of matrix pointers to compute jacobian routines

update changes file

fixed tao examples to no longer use Mat* arguments for Jacobian/Hessian etc computations

fix some VecGetArray() to VecGetArrayRead() and const in Tao source code

changed TaoTerminationReason TaoConvergedReason
changed TaoLineSearchTerminationReason to TaoLineSearchConvergedReason

reason: consistency with the rest of PETSc

updates to Tao per request of Lisandro for Petsc4py

* I would like to have TaoGetConstraintTolerances(), right now I'm
defining it in petsc4py as shown in the link below:
https://bitbucket.org/petsc

updates to Tao per request of Lisandro for Petsc4py

* I would like to have TaoGetConstraintTolerances(), right now I'm
defining it in petsc4py as shown in the link below:
https://bitbucket.org/petsc/petsc4py/commits/ab01ebe336491190a2db85c179c48b1c64fdc673?at=master#chg-src/include/custom.h

* Look at all these definitions, they should be exposed in the C API
to be able to call e.g. TaoSetType(tao,TAOLMVM);
https://bitbucket.org/petsc/petsc4py/commits/ab01ebe336491190a2db85c179c48b1c64fdc673?at=master#Lsrc/PETSc/petsctao.pxiT4

Also removed -tao_method, removed tao_ from names of tao methods and fixed some tao source code formatting

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docs: fix 'Concepts' keyword in tao examples

added PetscStackCallBLAS() wrappers in tao code
removed all CHKMEMQ macros in tao code that have PetscStack calls that also check the memory

fixed more Tao print format statements

changed TaoSolver usage to Tao

removed taoinitialize and taofinalize

added petsc to front of tao public includes

stop using taosolver.h includes

merged TAO_INFINITY and SNES_VI_INF into PETSC_INFINITY

more formating of tao source code

fixed quote marks for includes to <>

remove tao-private include directory, private goes into petsc-private

convert most PetscMalloc() in tao to PetscMalloc1()
more formating of Tao source code

tao: remove trailing spaces from sources

tao: untabify sources