add jerk limit
parabolicsmoother now respects initial and end velocities
fix multi-controller (thanks to mkoval)
add Save_JointLimits
changed log level
minor debug stmt
added some form of cubic sampling (haven't tested yet), added GetTransformPose openravepy fn
added some form of cubic sampling (haven't tested yet), added GetTransformPose openravepy fn
added ConfigurationSpecification::FindTimeIntegral, fixed more bugs in cubic retimering
fix parabolic smoother
improved taskmanipulation padded checking
add Regrab to RobotBase::SetNonCollidingConfiguration
several fixes for task manipulation jittering/padding
fix quadratic threshold