Pull request for 3 new state machines (ApproachPoses, ApproachPerimeter, ApproachPolygon) and some other stuff of perception milestone 1

The three new states may be used for navigating to poses, around a circle or a polygon while commanding only such poses that may be accessed by the robot. The accessibility analysis is also checked in as package cob_map_accessibility_analysis.

The usage of the three new states is documented within each Python file as well as on http://ros.org/wiki/cob_generic_states_experimental .