add doxy mostly for api analysis / redesign
bunch of automated editds for upcoming refactoring:

s/KINEMATIC_ELASTIC/KINEMATIC_OBJECTIVES/g
s/kinematic_elastic/kinematic_objectives/g
s/TASK/OBJECTIVE/g
s/Task/Objective/g
s/task/objective/g
s/WAYPOINT/COMPOUND_OBJECTIVE/g
s/Waypoint/CompoundObjective/g
s/waypoint/compound/g
s/ELASTIC/BLENDER/g
s/Elastic/Blender/g
s/elastic/blender/g
s/MODEL/KINEMATIC_MODEL/g
s/Model/KinematicModel/g
s/delta_/bias_/g
s/Jacobian_/jacobian_/g
s/POSTURE_CONTROL/JOINT_POSITION_OBJECTIVE/g
s/PostureControl/JointPositionObjective/g
s/ORIENTATION_CONTROL/LINK_ORIENTATION_OBJECTIVE/g
s/OrientationControl/LinkOrientationObjective/g
s/POSITION_CONTROL/LINK_POSITION_OBJECTIVE/g
s/PositionControl/LinkPositionObjective/g
s/JOINT_LIMIT_CONSTRAINT/JOINT_LIMIT_OBJECTIVE/g
s/JointLimitConstraint/JointLimitObjective/g
s/OBSTACLE_CONSTRAINT/OBSTACLE_OBJECTIVE/g
s/ObstacleConstraint/ObstacleObjective/g
s/POINT_ATTRACTION_HPP/POINT_ATTRACTION_OBJECTIVE_HPP/g
s/PointAttraction\([^a-zA-Z_]\)/PointAttractionObjective\1/g
s/POINT_REPULSION_HPP/POINT_REPULSION_OBJECTIVE_HPP/g
s/PointRepulsion\([^a-zA-Z_]\)/PointRepulsionObjective\1/g
s/DISTANCE_API/DISTANCE_MODEL/g
s/getPosition/getJointPosition/g
s/getVelocity/getJointVelocity/g
s/frame\([^a-zA-Z_]\)/getLinkFrame\1/g
s/computeJxo/getLinkJacobian/g
core lib coding style compliance (project layout)
temporarily disabled demos
unfinished work where class fusion etc needs to happen
Demo runs again... some more compliance with naming schemes, but it is
still rather dirty around the edges of the former "elastic" and
"waypoint" names which are now "blender" and "compound objective".
halfway through going over all files
finished going over all files. probably ready for a merge and an alpha release