[helpers] math: add print_matrix44, fix typos

simplify transformation3d.update to use the Blender matrix.to_4x4() function
[helpers] add rotation properties to transformation3d
[pocolibs] Fix an bug in rflex_overlays: list does not have clear() method
[pymorse] Improve port error handling

When a component has a datastream that is not socket, the
get_stream_port service now fails. This failure is correctly handled by
pymorse that does fail on creating the associated Stream.
PR2 can grab object as human does.
[laserscan] do not show arc in 2.66

BGE bug was fixed on rev. r55483 by Dalai Felinto
http://projects.blender.org/tracker/?func=detail&aid=34550
Should be OK in 2.67 - fix #304
Created a grasper robot with RobotGrasper class.

This class just define an abstract robot with the grab_ service.
The main goal of this class is to avoid code duplication.
[doc] {laas->morse}-theme + rm old files
[doc] change CSS for <tt> to make it more obvious
[doc] mention OpenRTM in install
[doc] Improved rendering of line num in doc code samples
[doc] Improve CSS for images. Honor :align center:
[doc] Minor change to CSS for admonitions
[services] Expose services exposed by robots in details request

Part of #299
[pymorse] Export robot services as method

Fix #299
[doc] Added a favicon to MORSE documentation
Add subparsers for MORSE sub-commands

This allows to cleanly support different set of
cmd-line options for sub-commands like 'run', 'edit', 'check'.

This is a required cleaning step before introducing 'morse create'
family of options.
[cmake] Another patch for doc building related to locale

C.UTF-8 seems to exist only on ubuntu, debian nowadays. So, try to
detect automatically what UTF-8 locale exists on the system, and choose
the first one.

XXX Probably does not work on windows at all.
[ros] semantic camera use MorseEncoder
Start refactoring modifiers

Modifiers are now based on an Abstract class
Core MORSE part refactored
Only the NED modifier is up-to-date
ned_test passes succesfully!