many ikfast upgrades
update cached ik solvers
ikfast fixes for solving pairwise variables
add more ikfast checks
fixed ikfast bug with converting pi to rational
fix ikfast bug with globalsymbols
ikfast degenerate case fixes, parabolic smoother fixes
minor grasp planning stuff
fix export symbols for c-bindings
upgrade ikfast to v64, fixed degenerate cases
added a set of csharp bindings based on the C bindings that also provide equivalent examples to the c bindings examples
removed the unncessary pidb files
moved the create functions in the Environment class.
Merge pull request #272 from wj88/master

initial C# Bindings using libopenrave_c
ikparam stuff
Implemented multicontroller in openravepy_controller.cpp.
Added RaveCreateMultiController.
Registered the MultiController interface.
Added missing source file.
ikfast fixes with handling multiple conditions