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