First commit of the collision checker. The launch files and config files need to be moved.
Removed the sbpl_collision_interface...it's not needed anymore. Still need to move test files to own package
Added true self collision to the collision checker. You can now add collision groups of type "voxels" to a robot model description. Any links in those groups are voxelized and added to the distance field.
Broke out the group class into its own thing.
Moved the group parsing code to the group class. Still have to clean up the old code in the collision model
Cleaned up the collision model and the group files. Now the collision model is almost empty....the group is a class of its own that can parse its own description and perform FK
Removed the checkCollisionWithVisualization functions and cleaned up the CollisionSpace a bit. It's still dirty and needs to be designed better.
Added support to the sbpl_collision_space for working in a non-kinematics world frame like the map frame.
Removed bresenham from collision checker and put in leatherman.
Collision checking now includes and links against geo utils properly.
Modified test files to use generic test function
Updated collision models of hdt arm and pr2 arm with new voxelized groups
Removed bresenham from collision checking library. Put in leatherman.
Fixed the new voxel groups
Small changes in collision space to work with new voxel groups.
Changed the voxelize function we are using, to use the new one (VoxelizeMesh instead of voxelizeMesh)
Improving the test files in the collision checker to be generic. Added launch files to include the params for the different arms.
Merge branch 'master' of https://github.com/bcohen/sbpl_manipulation into groovy

Conflicts:
	sbpl_collision_checking/src/group.cpp
Baxter's left arm model. The shoulder is in collision at the moment and needs some minor tweaking. It looks good though!
Fixed the PR2 left arm model.