fixed error in DVL kalman filter and added sonar navigation
added forward pipeline detector
modifications to prepare tests, minmax radius added to torp detector
still need to add detector on/off to these ai tasks
transdec2014.yml vision config file added
added printf lines to ensure its being used
updated VisionSystem to not have duplicated m_pipedetector because while that works in visiontool not on the robot
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014
Merge branch 'vehicle_refactor_2014' of https://github.com/katzchen/tortuga into vehicle_refactor_2014

Conflicts:
	packages/vision/src/VisionSystem.cpp
Bins updated
Merge branch 'vehicle_refactor_2014' of https://github.com/katzchen/tortuga into vehicle_refactor_2014
fixes to PipeAlign, changes to transitions reverted, pipeDetector
gets turned on when entering PipeAlign, and turned off when leaving.
fixes to Pipe with checkpoints yml. Tested in simulator
modified files on the robot
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014
fixed stupid error that had been fixed before bizzare version control issue that git had
Merge branch 'vehicle_refactor_2014' of https://github.com/rajaths/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
Merge branch 'vehicle_refactor_2014' of https://github.com/tortugaRAM/tortuga into vehicle_refactor_2014
merged in changes from robot into shuttle
indentations fixed
indentation fixed
improvements for sonar manipulation ai