Minor edits
Added time-scaling in ComputeQuadraticRamps (necessary for dynamics and workspace acceleration constraints), not tested yet
Merge branch 'cuong' of https://github.com/rdiankov/openrave into cuong
Merge branch 'cuong' of https://github.com/rdiankov/openrave into cuong
Added special treatment of first and last ramps with respect to buseperturbation
Merge branch 'cuong' of https://github.com/rdiankov/openrave into cuong