collada writing now saves joint values in top-level instance_articulated_system
add helper KinBody::DoesDOFAffectLink
fixed rrt dumping of trees
Added new jitter function using only PlannerParameters configuration, update constraint planner
small changes to planningutils, added planningutils::JitterCurrentConfiguration
fixed crash with <extra>
fixed collada reader parsing of extra tags
added Trajectory::Swap, several bug fixes with constraintparabolicsmoother, added planningutils::InsertWaypointWithRetiming
fixed bug in trajectory timing parameters
fixed bug in InsertWaypointWithRetiming
regression fixes from unit tests