function names in TOPPpy go uppercase
added some test trajectories
Merge branch 'master' of github.com:quangounet/TOPP

Conflicts:
	tests/torques_pendulum_rave.py
moving solved trajectories to pendulum.py
removing useless line in constraintstring format
trimmed unused debug info
simpler TOPPpy.PlotComputedProfiles(x) function
adaptative sd_max in Phase RRT
new TODO trajectories