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
doc odds and ends
fix segfault on exit
minor doc stuff
Merge branch 'master' of github.com:joschu/trajopt
fix findgurobi.cmake
Merge branch 'master' into devel

Conflicts:
	.gitignore
	src/trajopt/collision_checker.cpp
	src/trajopt/robot_and_dof.hpp
	src/trajopt/trajoptpy.cpp