Minor edits
Added time-scaling in ComputeQuadraticRamps (necessary for dynamics and workspace acceleration constraints), not tested yet
Merge branch 'cuong' of https://github.com/rdiankov/openrave into cuong
Merge branch 'cuong' of https://github.com/rdiankov/openrave into cuong
Added special treatment of first and last ramps with respect to buseperturbation
Merge branch 'cuong' of https://github.com/rdiankov/openrave into cuong
Added computation of the aabb of the manipulator and childlinks and graspedobject
Added computation of the aabb of the manipulator and childlinks and graspedobject
Merge branch 'cuong' of https://github.com/rdiankov/openrave into production
fix translationxyorienation3d for ikfast