Drop Boost dependency
Boost was only used for program option parsing. To avoid this huge dependency, this commit replaces boost::program_options with cxxopts, a header-only library with the same functionality. cxxopts is added as a submodule, and Boost is removed from the dependencies in the code and Travis configuration.
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lib/cxxopts
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lib/cxxopts
Submodule
Submodule lib/cxxopts added at 8893afe13c
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