Add qpoases

[johnwason]

qpoases is necessary on Windows, since the default bpmpd is Linux only. Right now I have a shim package configured for this purpose. Here are the files:

https://gist.github.com/johnwason/fbcbde988cb0488ca75e15dbdb82a627

Right now it assumes that qpoases is checked out in a subdirectory. The external project option is a much cleaner design, so it should be used for this package as well.

[Levi-Armstrong]

Sorry I missed this. I will work on adding the different optimizer libraries to this. We plan to make OSQP the default because of the license issues with the current default optimizer.