sonar mods
enabled forwards center to use constraints, made torpedos use this constraint to enforce a limit on time spent centering
updated Transdec2014.yml to avoid buoys and added bin events to bins
Merge branch 'vehicle_refactor_2014' of https://github.com/katzchen/tortuga into vehicle_refactor_2014

Conflicts:
	data/config/vision/Transdec2014.yml
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/SonarManip2014.py
Merge branch 'vehicle_refactor_2014' of https://github.com/mxlan/tortuga into vehicle_refactor_2014
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014
updates commmit from robot