Merge from cudd branch. This mostly just adds support for linking

Merge from cudd branch.  This mostly just adds support for linking
against cudd libraries, the propositional_query class (in util/),
which uses cudd if it's available (and otherwise answers UNKNOWN for
all queries), and the arith theory support for it (currently disabled
per Tim's request, so he can clean it up).

Other changes include:

* contrib/debug-keys - script to print all used keys under Debug(), Trace()
* test/regress/run_regression - minor fix (don't export a variable)
* configure.ac - replace a comment removed by dejan's google perf commit
* some minor copyright/documentation updates, and minor changes to source
  text to make 'clang --analyze' happy.