Several bug-fixes, ready to port to C++?
Merge remote branch 'origin'
Revert "Several bug-fixes, ready to port to C++?"

This reverts commit bac76afdc1d0b19e9fd643cc1118cb56b3664ecb.
Fixed several bugs in the mintime algorithm
fixed convexdecomposition error
Added custom video frame size to qtcoin

Replaced VIDEO_WIDTH and VIDEO_HEIGHT with variables in qtcoin class so
that the rendered frame size can be adjusted.
doxygen changes
Renamed variables to match convention
Forgot to rename a few
Merge pull request #253 from robEllenberg/develop

Added custom video frame size to qtcoin