logging stuff
misc minor
continuous collision cost uses time of deepest collision
index bug
minor joint limit change
add benchmark, remove custom solver experiments
minor
moved stuff around
doc stuff
slightly more informative printouts
throttle osg cpu usage
fix self collision issues
unified discrete and continuous time collision costs
minor speedup
change behavior in degenerate case so test passes on linux.
also remove unnecessary bullet stuff.
worked on docs
minor stuff
plot fixes
made it compile with openrave 0.8
install instructions