small changes to planningutils, added planningutils::JitterCurrentConfiguration
fixed crash with <extra>
fixed collada reader parsing of extra tags
added Trajectory::Swap, several bug fixes with constraintparabolicsmoother, added planningutils::InsertWaypointWithRetiming
fixed bug in trajectory timing parameters
fixed bug in InsertWaypointWithRetiming
regression fixes from unit tests
fixed collada saving external refs
fixed windows compilation
fixed windows bug, minor changes to test
minor test fixes
Merge branch 'production' of https://github.com/rdiankov/openrave into cuong
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