Benjamin Rainer hack to support old Katana 300 firmware.
katana_kinect_calibration: fix bug

The calibration produced an error when the last pose of the
dance does not complete successfully
collada/*.robot.xml: set translation back to 0s

Doesn't have any effect on the generated IK any more (OpenRAVE 0.8 /
IKFast 61) anyway.
regenerated collada description for katana_450_6m90a

...using:

    rosrun collada_urdf urdf_to_collada katana_450_6m90a.urdf katana_450_6m90a.dae
katana_450_6m90a.urdf: adjust katana_gripper_tool_frame, remove katana_base_frame

This breaks compatibility with the KNI kinematics, but who cares now
that we have real ikfast IK!
new package: katana_ikfast_kinematics_plugin

This package contains the OpenRAVE IkFast plugin generated using this
tutorial:

http://ros.org/wiki/Industrial/Tutorials/Create_a_Fast_IK_Solution

Commands used for generation:

    $ openrave-robot.py katana_450_6m90a.dae --info links
    name                          index parents
    -----------------------------------------------------------------
    katana_base_link              0
    [...]
    katana_gripper_tool_frame     9     katana_motor5_wrist_roll_link
    -----------------------------------------------------------------

    $ /usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py --robot=katana_450_6m90a.dae --iktype=translationdirection5d --baselink=0 --eelink=9 --savefile=katana_450_6m90a_ikfast_solver.cpp
fix ComputeIk() call for TranslationDirection5D

The ComputeIk() doc in ikfast.h says:
- ``eetrans`` - 3 translation values. For iktype **TranslationXYOrientation3D**, the z-axis is the orientation.
- ``eerot``
- For **Transform6D** it is 9 values for the 3x3 rotation matrix.
- For **Direction3D**, **Ray4D**, and **TranslationDirection5D**, the first 3 values represent the target direction.
- For **TranslationXAxisAngle4D**, **TranslationYAxisAngle4D**, and **TranslationZAxisAngle4D** the first value represents the angle.
- For **TranslationLocalGlobal6D**, the diagonal elements ([0],[4],[8]) are the local translation inside the end effector coordinate system.

Changed from Transform6D format (rotation matrix) to target direction
(TranslationDirection5D).
disable getPositionFk() (different interface for TranslationDirection5D)
print debug info
Merge commit '992671e0c' into fuerte

Conflicts:
	katana/include/katana/Katana.h
	katana/include/katana/Katana300.h
	katana/src/Katana300.cpp
Merge remote-tracking branch 'upstream/fuerte' into fuerte