Have simulator cpp plotting working
finished pr2_sim/arm.cpp
camera truncation works
with build on, truncation is fast! for table env, 650 ms --> 1 ms
gradient works in c++
fixed camera infinite loop bug
fixed halfspace bug with epsilon
add ik_lookat
added truncated pyramid/frustum to geometry3d
changed camera to use truncated version
added truncated frustum/pyramid to cpp
changed arm/camera fk to not use openrave
revamped geometry3d.py to keep triangles that are too close
did in cpp
may have patched cpp camera hole bug
about to merge with master
merged with peter