With manipmaxvel, not tested yet
Small changes to cps
Merge branch 'production' of https://github.com/rdiankov/openrave into cuong
Workspace vel and acc constraints works but need some improvements
Bug fixes to Workspace accel constraint and new way of dealing with perturbations in first and last ramps
Add finer treatment of first and last ramps with regards to perturbations
Correct computation of checkpoint vels and accels
Minor edits
Improve caching of shortcuts endpoints and code review
added external accelerations to GetLinkAccelerations, fixes to constraint parabolic smoother
fixed robot files
Merge branch 'cuong' of https://github.com/rdiankov/openrave into production