SNOPTWrapper: Use instance-specific work space for snOptA calls
SNOPTWrapper: Use instance-specific work space for snOptA calls

Convert global data to member data using getSolverData.  This eliminates
some thread-unsafety.

GitHub-Issue: #1667

billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,psiorx/drake,psiorx/drake,psiorx/drake,billhoffman/drake,psiorx/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,psiorx/drake,psiorx/drake,billhoffman/drake,psiorx/drake,sheim/drake,sheim/drake,sheim/drake,psiorx/drake,billhoffman/drake,sheim/drake