Merge pull request OpenMDAO#94 from kmarsteller/master

re-working the caching and making of pyoptsparse with SNOPT

version -> 0.10.0 (OpenMDAO#70)

Brach example fix (OpenMDAO#66)

* removed singularity from initial guess in brachistochrone example.  added more tests

* version 0.9.1 -> 0.9.2

synced to openmdao - remove explicit coloring for objective. moved mi…

…n time climb differential inclusion to another repo for now. (OpenMDAO#48)