object-specific collision cost coeffcients
move exp folder inside
random stuff
require openrave 0.9
Merge branch 'master' of github.com:dementrock/trajopt into old

Conflicts:
	.gitignore
	src/trajopt/collision_terms.cpp
	src/trajopt/collision_terms.hpp
	src/trajopt/problem_description.cpp
	src/trajopt/problem_description.hpp
	unmaintained_examples/grasp_approach.py
make collision cost work
Merge branch 'devel' into old

Conflicts:
	src/sandbox/CMakeLists.txt
	src/sandbox/dubins_car.cpp
removed unnecessary files
slight changes
Merge branch 'devel' of git://github.com/joschu/trajopt into old
some modifications
custom adjustment for needle steering
basic framework layout
added functions for log/exp
formulation 1
make formulation configurable and added formulation 2 as well as bounded radius case
added formulation 3 as well as shooting method
wasn't really using o3
added debug output for local frame alignment
attempt to add collision but doesn't seem to be working