Added a few version changes
Merge branch 'john-rss' of github.com:joschu/trajopt into john-rss
Merge branch 'john-rss' of github.com:joschu/trajopt into john-rss
Added cluster_convex_decomp
Merge branch 'john-rss' of github.com:hbradlow/trajopt into john-rss
Merge branch 'john-rss' of github.com:hbradlow/trajopt into john-rss
Fixed xyzw inconsistencies